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https://github.com/knorth55/zdepth_image_transport
[This project is merged to https://github.com/jsk-ros-pkg/jsk_3rdparty] ROS zdepth image transport plugin
https://github.com/knorth55/zdepth_image_transport
Last synced: 2 months ago
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[This project is merged to https://github.com/jsk-ros-pkg/jsk_3rdparty] ROS zdepth image transport plugin
- Host: GitHub
- URL: https://github.com/knorth55/zdepth_image_transport
- Owner: knorth55
- License: bsd-2-clause
- Created: 2022-12-16T11:06:17.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2023-02-20T13:51:19.000Z (almost 2 years ago)
- Last Synced: 2023-03-04T05:04:20.930Z (almost 2 years ago)
- Language: C++
- Homepage:
- Size: 28.3 KB
- Stars: 4
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# This project is merged to [jsk-ros-pkg/jsk_3rdparty](https://github.com/jsk-ros-pkg/jsk_3rdparty).
# zdepth_image_transport
[](https://github.com/knorth55/zdepth_image_transport/actions/workflows/main.yml)
ROS zdepth image transport plugin
`zdepth_image_transport` is for faster and lighter depth compression.
[Zdepth](https://github.com/catid/Zdepth) is a depth compression method with zstd library.
## Supported format
Currently supported formats are as below:
- [x] `16UC1`
- [x] `32FC1`
## How to try
```
roslaunch openni2 openni2.launch
rosrun image_transport republish zdepth in:=/camera/depth/image_raw raw out:=/camera/depth_decompressed/image_raw raw
```
## Visual Comparison
### ZDepth (This repo)
With zdepth_image_transport, we can get 30Hz rgb and 30Hz Zdepth.
Left: Original, Right: compressed -> decompressed
https://user-images.githubusercontent.com/9300063/199556928-821fe403-f63a-456a-a633-a407bf5fe384.mp4
### CompressedDepth (png)
Because compression of png is so slow, it causes slow down for other depth topics.
(image_transport is serial process, and if one compression is slow, others will be slow down).
The compression is 4Hz, so the raw depth is also 4Hz.
and the decompression is 4Hz.
Ofcourse, we can make it faster with lower png_level, but the compression will be worse.
Left: Original, Right: compressed -> decompressed
https://user-images.githubusercontent.com/9300063/199556980-136d74a3-0a09-4df1-9e8e-354b7b65463f.mp4
## Frequency Comparison
### Compression
- ZDepth
```
$ rostopic hz /camera/depth/image_raw/zdepth
subscribed to [/camera/depth/image_raw/zdepth]
average rate: 29.973
min: 0.033s max: 0.034s std dev: 0.00010s window: 17
```
- Compressed Depth (png)
```
$ rostopic hz /camera/depth/image_raw/compressedDepth
subscribed to [/camera/depth/image_raw/compressedDepth]
average rate: 4.155
min: 0.241s max: 0.241s std dev: 0.00000s window: 2
```
### Decompression
- Zdepth
```
$ rostopic hz /camera/depth/image_raw/zdepth
subscribed to [/camera/depth/image_raw/zdepth]
average rate: 29.609
min: 0.013s max: 0.044s std dev: 0.00686s window: 29
```
- Compressed Depth (png)
```
$ rostopic hz /camera/depth_decompressed/image_raw
subscribed to [/camera/depth_decompressed/image_raw]
average rate: 4.175
min: 0.233s max: 0.244s std dev: 0.00462s window: 4
```
## Topic size Comparison
- Original: ``
- ZDepth: ``
- compressedDepth (png): ``