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These message types are for sending fairly different types of messages between nodes:
Your application sounds like it involves standard (not "3D") video data, so I would choose the compressed_image format. See this tutorial for examples of how to adjust the compression "quality" to achieve your desired performance.
As far as I know, though, the image_transport package hides the details of the specific transports from your application. You shouldn't have to interface with a compressed_image directly. The image_transport exposes images on both sides as standard Image messages. See the examples at these tutorials. You can toggle between different methods by setting the ~image_transport
parameter to see the effect on performance. In particular, you may want to look into the theora streaming-video method.