README

B-Roll

Provides utilities for dealing with video stream data in the context of Rosbag2.

Provides wrapper utilities for libavcodec (ffmpeg).

broll

Library providing wrapper classes for common libavcodec <–> sensor_msgs operations

decode_node

decode_node node takes in CompressedImage with some encoding and republishes as raw Image

Topics Subscribed:

  • video/compressed: sensor_msgs/msg/CompressedImage

Topics Published:

  • video/raw: sensor_msgs/msg/Image

Parameters:

  • scale: float scale to apply to image before republishing. 0.5 will result in half size, rounds up to nearest even number on both width and height

Examples:

ros2 run broll decode_node --ros-args -r video/compressed:=camera0/compressed -r video/raw:=/camera0/raw_bgr -p scale:=0.5