added quality test/decoding

Author: berndpfrommer

CMakeLists.txt

@@ -27,6 +27,7 @@ find_package(rclcpp REQUIRED)
 find_package(rosbag2_cpp REQUIRED)
 find_package(rosbag2_storage REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(OpenCV REQUIRED core imgproc)
 
 if(${rosbag2_cpp_VERSION_MAJOR} GREATER 0 OR ${rosbag2_cpp_VERSION_MINOR} GREATER 9)
   add_definitions(-DUSE_NEW_ROSBAG_WRITE_INTERFACE)
@@ -68,6 +69,7 @@ target_link_libraries(bag_to_frames
   rclcpp::rclcpp
   rosbag2_cpp::rosbag2_cpp
   rosbag2_storage::rosbag2_storage
+  opencv_core opencv_imgproc
   ${sensor_msgs_TARGETS})
 
 target_compile_features(bag_to_frames PRIVATE cxx_std_17)
@@ -78,11 +80,13 @@ target_include_directories(bag_to_frames PRIVATE include)
 #
 add_executable(compress_bag  src/compress_bag.cpp)
 target_link_libraries(compress_bag
+  cv_bridge::cv_bridge
   ffmpeg_encoder_decoder::ffmpeg_encoder_decoder
   ${ffmpeg_image_transport_msgs_TARGETS}
   rclcpp::rclcpp
   rosbag2_cpp::rosbag2_cpp
   rosbag2_storage::rosbag2_storage
+  opencv_core opencv_imgproc
   ${sensor_msgs_TARGETS})
 target_compile_features(compress_bag PRIVATE cxx_std_17)
 target_include_directories(compress_bag PRIVATE include)

README.md

@@ -70,6 +70,7 @@ Use ``compress_bag`` to encode a video stored as Image messages into FFMPEGPacke
 ros2 run ffmpeg_image_transport_tools compress_bag  -i input_bag -o output_bag -t /first_image_topic -t /next_image_topic [-O encoder=hevc_vaapi] [-s start_time] [-e end_time]
 ```
 There are various other encoder options you can set. Run with the ``-h`` option to see them all.
+You can also check for the quality of the encoding be immediately decoding the packet with the ``-q`` switch (quality check). With h264 typically you'll get an average absolute difference error of about 2.0 (on a scale of 0 to255).
 
 ## License
 

package.xml

@@ -16,10 +16,11 @@
   <test_depend>ament_cmake_clang_format</test_depend>
 
   <depend>cv_bridge</depend>
-  <depend>rclcpp</depend>
   <depend>ffmpeg_encoder_decoder</depend>
   <depend>ffmpeg_image_transport_msgs</depend>
+  <depend>libopencv-imgproc-dev</depend>
   <depend>rosbag2_cpp</depend>
+  <depend>rclcpp</depend>
   <depend>rosbag2_storage</depend>
   <depend>sensor_msgs</depend>