Adding QOI compression support to ROS2 #104
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The Quite OK Image format (https://qoiformat.org/) is a good substitute of PNG for lossless compression. This commit adds it as a compressed image transport thanks to Dimitri's Belopopsky (@ShadowMitia) MIT Licensed library (https://github.com/ShadowMitia/libqoi) implementing Dominic Szablewski's QOI algorithm (which is CC0 licensed, public domain).
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Is there any momentum behind this? Br Philipp |
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This is a sibling PR of: #103
However, note that I developed and tested these changes in ROS1. Given the similarity of the codebase I hope it just works by adding the same changes here.
The Quite OK Image format (https://qoiformat.org/) is a good substitute of PNG for lossless compression.
As per QOI's website:
This commit adds it as a compressed image transport thanks to Dimitri Belopopsky's (@ShadowMitia) MIT Licensed
library (https://github.com/ShadowMitia/libqoi) implementing Dominic Szablewski's QOI algorithm (which is
CC0 licensed, public domain).
To give context, I implemented this to practice C++ and to provide an alternative to PNG compression for when we'd like lossless compression or to have an alpha channel without framerate drop. Currently using PNG drops a 640x480 webcam stream 30fps to 3fps. With QOI it stays at 30fps.
Taking as baseline raw image publishing with video_stream_opencv, and subscribing with rqt_image_view, on my i7-10875H CPU @ 2.30GHz × 16, QOI compression adds 28% CPU usage and QOI decompression adds 13% CPU usage. Feels reasonable to me, specially compared to PNG going over 100% CPU usage and dropping most of the frames.
I would gladly appreciate help on how to eliminate the (what I think is) unnecessary copy of the image in the publisher and the subscriber.