\section{Performance Evaluation}
\label{sec:eval}

To evaluate the effectiveness of the proposed method, we did the different ratios of compressing on a thermal data by our method compared to JPEG image using different quality and png image, a lossless bit map image. We set the camera at the ceiling and view direction is perpendicular to the ground, and the thermal data size is $480 \times 640$ pixels. The JPEG image is generated by OpenCV $3.3.0$ which is using libjpeg version 9 13-Jan-2013, and image quality from $1$ to $99$.

Figure~\ref{fig:4KMy} and Figure~\ref{fig:4KJpeg} show the different of JPEG and our method. JPEG image id generated by image quality level $3$, and thermal data of our method does $1390$ rounds of separate and compressed by Huffman Coding. In this case, Huffman Coding can reduce $39\%$ of compressed data size.

\begin{figure}[ht]
	\begin{minipage}[b]{0.45\linewidth}
		\centering
 		\includegraphics[width=\linewidth]{figures/my4000.png}
		\caption{Data compressed by Proposed Method (4KB)}
		\label{fig:4KMy}
	\end{minipage}
	\hspace{0.05\linewidth}
	\begin{minipage}[b]{0.45\linewidth}
		\centering
 		\includegraphics[width=\linewidth]{figures/quality3.jpg}
		\caption{Data compressed by JPEG (4KB)}
		\label{fig:4KJpeg}
	\end{minipage}
\end{figure}

Figure~\ref{fig:compareToJpeg} shows that the size of file can reduce more than $50\%$ compared to JPEG image when both have $0.5\% (0.18^\circ C)$ of root-mean-square error. Our method has $82\%$ less error rate when the compressed data size is $4KB$. The percentage of file size is compared to PNG image. 

\begin{figure}[ht]
	\centering
 	\includegraphics[width=\columnwidth]{figures/compareToJpeg.pdf}
	\caption{Proposed method and JPEG comparing}
	\label{fig:compareToJpeg}
\end{figure}

The computing time of a $480 \times 640$ thermal data on Raspberry Pi 3 is:
\subsubsection{Date Structure Initialize}
0.233997 second.
\subsubsection{Thermal Data Loading}
1.268126 second.
\subsubsection{Regions dividing}
About 4.6 microsecond per separation. Figure~\ref{fig:computeTime} shows the computation time of Region dividing.

Total time is about 1.5 second.

\begin{figure}[ht]
	\centering
 	\includegraphics[width=\columnwidth]{figures/computeTime.pdf}
	\caption{Computation Time of Regions Dividing}
	\label{fig:computeTime}
\end{figure}