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Decoding Jetson H.264 images on non-NVIDIA powered systems

Decoding Jetson H.264 images on non-NVIDIA powered systems sample expected output

Overview

Using hardware-accelerated Isaac ROS compression on Jetson to H.264 encode data for playback through Isaac ROS H.264 decoder on NVIDIA-powered x86_64 is fast and efficient. However, you may have need to decode recorded data on x86_64 systems that are not NVIDIA-powered. Fortunately, the output of the isaac_ros_h264_encoder package can easily be reformatted to work with other available ROS2 decoder packages.

This tutorial shows you how to replay a rosbag recorded on a Jetson using a third-party H.264 decoder image_transport plugin used in FogROS2.

The launch file here replays a target rosbag recorded with isaac_ros_h264_encoder through a node to reformat the compressed messages for compatibility before being decoded by the third-party decoder to be displayed in an image view window.

Tutorial Walkthrough

  1. Complete the Quickstart section in the main README.

  2. Clone the following third-party repo into your workspace:

    cd ~/workspaces/isaac_ros-dev/src
git clone https://github.com/KDharmarajanDev/h264_image_transport.git

# Install dependencies for the third-party package
sudo apt install libavdevice-dev libavformat-dev libavcodec-dev libavutil-dev libswscale-dev

  3. Launch the Docker container using the run_dev.sh script:

    cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \
  ./scripts/run_dev.sh

  4. Inside the container, build the third-party h264_image_transport package:

    cd /workspaces/isaac_ros-dev && \
  colcon build --symlink-install --packages-up-to \
    h264_image_transport isaac_ros_to_h264_msgs_packet && \
  source install/setup.bash

  5. Launch the graph which brings up an image viewer to show the decoded output.

    ros2 launch isaac_ros_to_h264_msgs_packet h264_compatible_decoder.launch.py rosbag_path:=/workspaces/isaac_ros-dev/src/isaac_ros_compression/resources/rosbags/h264_compressed_sample.bag

    Note: You may have to click on the "/image" to trigger window resizing.