Encoding issues and size reestrictions

[knzo25]

First of all, thank your for this amazing project !

I was checking the code an examples of this package, but I seem to run on encoding issues and have not been able to replicate some of your results.

For example, running the example rosbag, I can get this image:

ros2 launch isaac_ros_h264_decoder isaac_ros_h264_decoder_rosbag.launch.py rosbag_path:=src/isaac_ros_compression/resources/rosbags/h264_compressed_sample.bag

However, when I try to encode my camera's data, or even the above image, the resulting image quality is quite bad. I tried using all of the parameters, including the two default profiles and the custom one, but did not have luck in a correct encoding.

For example, If I use the previous image and your tests to encode/decode it again, this is the result: (of course, I modified the image dimensions in the test files, but did not change the encoding profile)

colcon test --event-handlers console_cohesion+ --packages-select isaac_ros_h264_encoder
colcon test --event-handlers console_cohesion+ --packages-select isaac_ros_h264_decoder

Do you happen to know what the reason behind this scenario is? :pray: My development hardware is a RTX3060 and just in case I did try to convert video using nvenc and ffmpeg but did work as expected, so I am not sure how to proceed debugging this issue.

I was wondering whether a separate issue would be preferable, but is there any reason for the limitations stated here https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_compression/isaac_ros_h264_encoder/index.html#input-restrictions

I am working with 5MP cameras, so I am interested on what is the reason behind this limitation

Thank you very much !