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Test video 560x320 px on Intel® Core™ i7-10875H CPU @ 2.30GHz × 16.
Using JPEG as baseline example.
Compression Algorithm
Compression CPU %
Decompression CPU %
BW
HZ
JPEG Quality 80
21
29-31
690KB/s
30
PNG Level 1
59-61
24
5.6MB/s
30
PNG Level 2
59-62
24
5.4MB/s
30
QOI qoixx
27-30
32-35
6.1MB/s
30
QOI
40-50
40-50
6.1MB/s
30
How to run
# Build the docker image
./build.sh
# Run ( needs `sudo apt-get install python3-rocker` from https://github.com/osrf/rocker#debians-recommended )
./run.sh
# and open other shells
./exec.sh
# Now you can run:# source /root/catkin_ws/devel/setup.bash && roslaunch video_stream_opencv video_file.launch# source /root/catkin_ws/devel/setup.bash && rosrun rqt_reconfigure rqt_reconfigure# source /root/catkin_ws/devel/setup.bash && rosrun rqt_image_view rqt_image_view# And you can compare via 'top -c' the CPU usage# the video_stream_opencv process is the 'driver' which compresses the images# the rqt_image_view (choosing the /videofile/image_raw/compressed topics) will do the uncompression# with rqt_reconfigure, by choosing video_file > image_raw > compressed, you can change format (and options of the formats)# to observe the changes in CPU usage
