Try mid level compression

components/rgbd-sources/src/streamer.cpp

@@ -244,7 +244,7 @@ void Streamer::_schedule() {
 				// Setting 9 = small but slow
 				// Anything up to 8 causes minimal if any impact on frame rate
 				// on my (Nicks) laptop, but 9 halves the frame rate.
-				vector<int> pngparams = {cv::IMWRITE_PNG_COMPRESSION, 1}; // Default is 1 for fast, 9 = small but slow.
+				vector<int> pngparams = {cv::IMWRITE_PNG_COMPRESSION, 5}; // Default is 1 for fast, 9 = small but slow.
 				cv::imencode(".png", d2, d_buf, pngparams);
 
 				//LOG(INFO) << "Data size: " << ((rgb_buf.size() + d_buf.size()) / 1024) << "kb";