The actual amount of power loss is minimal.
There are 2 sorts of losses in hub gears such as a Rohloff.
1) Friction due to oil seals. This is a constant value regardless of load or speed. It is the reason that your cranks tend to rotate when you push your bike along the ground whilst walking alongside.
2) Friction due to gear meshing. This is a variable value and depends on load (ie power you are tansmitting to the wheel). The more power you transmit, ie the harder you pedal, the more loss
In a hub such as a Shimano Nexus which uses grease instead of an oil bath, the losses as described in 1) are less than a Rohloff, but there is correspondingly more loss as described in 2).
I have seen the figures for Rohloff and it has the lowest losses for any epicyclic gear system but marginally higher than a derailleur assuming the latter is clean and in good working order.
Regards,
Tony