zdepth_image_transport

ROS zdepth image transport plugin

zdepth_image_transport is for faster and lighter depth compression.

Zdepth is a depth compression method with zstd library.

Supported format

Currently supported formats are as below:

• 16UC1
• 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 package)

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: <array type: uint8, length: 614400>

• ZDepth: <array type: uint8, length: 35006>
• compressedDepth (png): <array type: uint8, length: 61084>

Changelog for package zdepth_image_transport

2.1.28 (2023-07-24)

2.1.27 (2023-06-24)

• fix package.xml/CMakeLists.txt to supress catkin_lint errors (#479)
• Contributors: Kei Okada

2.1.26 (2023-06-14)

• add LICENSE files (#476)
• Contributors: Kei Okada

2.1.25 (2023-06-08)

• [zdepth_image_transport] add readme for zdepth_image_transport (#430)
• [zdepth, zdepth_image_transport] fix zdepth package version to 2.1.24 (#427)
• add zdepth and zdepth_image_transport package (#389)
• [zdepth_image_transport] add readme for zdepth_image_transport (#430)
• Contributors: Aoi Nakane, Kei Okada, Naoto Tsukamoto, Shingo Kitagawa

2.1.24 (2021-07-26)

2.1.23 (2021-07-21)

2.1.22 (2021-06-10)

2.1.21 (2020-08-19)

2.1.20 (2020-08-07)

2.1.19 (2020-07-21)

2.1.18 (2020-07-20)

2.1.17 (2020-04-16 21:51)

2.1.16 (2020-04-16 15:21)

2.1.15 (2019-12-12)

2.1.14 (2019-11-21)

2.1.13 (2019-07-10)

2.1.12 (2019-05-25)

2.1.11 (2018-08-29)

2.1.10 (2018-04-25)

2.1.9 (2018-04-24)

2.1.8 (2018-04-17)

2.1.7 (2018-04-09)

2.1.6 (2017-11-21)

2.1.5 (2017-11-20)

2.1.4 (2017-07-16)

2.1.3 (2017-07-07)

2.1.2 (2017-07-06)

2.1.1 (2017-07-05)

2.1.0 (2017-07-02)

2.0.20 (2017-05-09)

2.0.19 (2017-02-22)

2.0.18 (2016-10-28)

2.0.17 (2016-10-22)

2.0.16 (2016-10-17)

2.0.15 (2016-10-16)

2.0.14 (2016-03-20)

2.0.13 (2015-12-15)

2.0.12 (2015-11-26)

2.0.11 (2015-10-07 14:16)

2.0.10 (2015-10-07 12:47)

2.0.9 (2015-09-26)

2.0.8 (2015-09-15)

2.0.7 (2015-09-14)

2.0.6 (2015-09-08)

2.0.5 (2015-08-23)

2.0.4 (2015-08-18)

2.0.3 (2015-08-01)

2.0.2 (2015-06-29)

2.0.1 (2015-06-19 21:21)

2.0.0 (2015-06-19 10:41)

1.0.71 (2015-05-17)

1.0.70 (2015-05-08)

1.0.69 (2015-05-05 12:28)

1.0.68 (2015-05-05 09:49)

1.0.67 (2015-05-03)

1.0.66 (2015-04-03)

1.0.65 (2015-04-02)

1.0.64 (2015-03-29)

1.0.63 (2015-02-19)

1.0.62 (2015-02-17)

1.0.61 (2015-02-11)

1.0.60 (2015-02-03 10:12)

1.0.59 (2015-02-03 04:05)

1.0.58 (2015-01-07)

1.0.57 (2014-12-23)

1.0.56 (2014-12-17)

1.0.55 (2014-12-09)

1.0.54 (2014-11-15)

1.0.53 (2014-11-01)

1.0.52 (2014-10-23)

1.0.51 (2014-10-20 16:01)

1.0.50 (2014-10-20 01:50)

1.0.49 (2014-10-13)

1.0.48 (2014-10-12)

1.0.47 (2014-10-08)

1.0.46 (2014-10-03)

1.0.45 (2014-09-29)

1.0.44 (2014-09-26 09:17)

1.0.43 (2014-09-26 01:08)

1.0.42 (2014-09-25)

1.0.41 (2014-09-23)

1.0.40 (2014-09-19)

1.0.39 (2014-09-17)

1.0.38 (2014-09-13)

1.0.37 (2014-09-08)

1.0.36 (2014-09-01)

1.0.35 (2014-08-16)

1.0.34 (2014-08-14)

1.0.33 (2014-07-28)

1.0.32 (2014-07-26)

1.0.31 (2014-07-23)

1.0.30 (2014-07-15)

1.0.29 (2014-07-02)

1.0.28 (2014-06-24)

1.0.27 (2014-06-10)

1.0.26 (2014-05-30)

1.0.25 (2014-05-26)

1.0.24 (2014-05-24)

1.0.23 (2014-05-23)

1.0.22 (2014-05-22)

1.0.21 (2014-05-20)

1.0.20 (2014-05-09)

1.0.19 (2014-05-06)

1.0.18 (2014-05-04)

1.0.17 (2014-04-20)

1.0.16 (2014-04-19 23:29)

1.0.15 (2014-04-19 20:19)

1.0.14 (2014-04-19 12:52)

1.0.13 (2014-04-19 11:06)

1.0.12 (2014-04-18 16:58)

1.0.11 (2014-04-18 08:18)

1.0.10 (2014-04-17)

1.0.9 (2014-04-12)

1.0.8 (2014-04-11)

1.0.7 (2014-04-10)

1.0.6 (2014-04-07)

1.0.5 (2014-03-31)

1.0.4 (2014-03-29)

1.0.3 (2014-03-19)

1.0.2 (2014-03-12)

1.0.1 (2014-03-07)

1.0.0 (2014-03-05)