Here's a screensteps on measuring bandwidth:
http://wpilib.screenstepslive.com/s/...andwidth-usage
Be aware that image compression can easily cause a video stream to jump from 5Mbs to over 7 Mbps on the real playing field.
We always target keeping our combined robot bandwidth under 2Mbs to start with. It can always be increased later after seeing how it behaves on the actual playing field.
The success of image compression in keeping your bandwidth low is very dependent on the complexity of the image.
Images collected at home, pit or practice field can be quite different from the diamond plate, A/V lit, robot cluttered images you'll encounter on the playing field.