Encoding issues and size reestrictions

First of all, thank your for this amazing project !

I was checking the code an examples of this package, but I seem to run on encoding issues and have not been able to replicate some of your results.

For example, running the example rosbag, I can get this image:

ros2 launch isaac_ros_h264_decoder isaac_ros_h264_decoder_rosbag.launch.py rosbag_path:=src/isaac_ros_compression/resources/rosbags/h264_compressed_sample.bag

However, when I try to encode my camera's data, or even the above image, the resulting image quality is quite bad.
I tried using all of the parameters, including the two default profiles and the custom one, but did not have luck in a correct encoding.

For example, If I use the previous image and your tests to encode/decode it again, this is the result:
(of course, I modified the image dimensions in the test files, but did not change the encoding profile)

colcon test --event-handlers console_cohesion+ --packages-select isaac_ros_h264_encoder
colcon test --event-handlers console_cohesion+ --packages-select isaac_ros_h264_decoder

Do you happen to know what the reason behind this scenario is? 🙏
My development hardware is a RTX3060 and just in case I did try to convert video using nvenc and ffmpeg but did work as expected, so I am not sure how to proceed debugging this issue.

I was wondering whether a separate issue would be preferable, but is there any reason for the limitations stated here
https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_compression/isaac_ros_h264_encoder/index.html#input-restrictions

I am working with 5MP cameras, so I am interested on what is the reason behind this limitation

Thank you very much !

Start with the encoder and decoder test commands in the issue, then compare their modified image dimensions and encoding profile with the rosbag launch example. Read the encoder documentation's input restrictions and use the reported RTX3060 setup to reproduce the quality loss; done means identifying a reproducible cause or limitation and documenting the expected behavior.