Differences between Image and CompressedImage message types

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Hi,

I'm building a deep learning pipeline for robotics where

1. an image is read from camera (using the package cv_camera)
2. A node I wrote is reading the /cv_camera/image_raw topic and make inference using a Segmentation CNN.
3. Then the segmented image is published to the rest of the pipeline.

I want to ask to the community what is more heavy in terms of CPU usage between these two options:

• publish and read the segmented image as a CompressedImage message type
• publish and read the segmented image as an Image message type

I'm using cv_bridge to convert images from ROS to OpenCV in Python.

I think CompressedImage is heavier due to the compression step. Am I right?

Thank you