B-Roll Storage plugin play bags with compressed video #8
Description
Description
Right now rosbag2_storage_broll will just play video containers (.mp4, etc). But the real intention for its use is to play back sensor_msgs/Image from a contained sensor_msgs/CompressedImage video stream encoded by a video encoder.
Most of the pieces are already there.
Related Issues
Completion Criteria
ros2 bag play -s broll my_encoded_video.mcap
Implementation Notes / Suggestions
Having the storage plugin own a StorageFactory with the "try all options" method should do the trick to open and underlying storage and pass most API entrypoints directly through.
It needs to augment the topic list with new decoded topics, and process messages from encoded topics in read to produce the decoded version as well. Since this is a "one-by-one" API, it requires a little bit of cache management to be able to produce "two at a time" e.g. the original compressed and the decoded image.