feat(compression): non jetson encode

[manato]

PR Type

• New Feature

Related Links

Description

This PR introduces an AV1 encoder that runs with a discrete GPU (i.e., runs on a non-jetson platform).

Review Procedure

Execute the followings on a Non-jetson environment

# Publish dummy image
$ ros2 run gscam gscam_node --ros-args \
  -p gscam_config:="videotestsrc pattern=18 !  video/x-raw,width=2880,height=1860,frame=2/1" \
  -p camera.image_raw.enable_pub_plugins:=["image_transport/raw"]

# Execute encoder
$ ros2 run accelerated_image_processor_ros accelerated_image_processor_ros_imgproc_node \
  --ros-args \
  -r image_raw:=/camera/image_raw \
  -r image_raw/compressed:=/camera/image_raw/compressed \
  -p max_task_length:=5 \
  -p compressor.type:="av1" \
  -p compressor.av1.enable_tile:=false \
  -p rectifier.do_rectify:=false

And visualize compressed data using AV1-compatible lichtblick (which is making in progress): TIER IV INTERNAL

Remarks

Other codecs, such as H.264 and H.265, are not supported at this stage.

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.

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