By default, ffmpeg compresses the images quite a bit. It was enough that I could notice a quality difference when I put a paused frame of the video side-by-side with an extracted image. We can force ffmpeg to improve the quality with q:v (number). A smaller number here produces a higher quality image at the expense of file size and processing time. I’ve settled on a value of 3, but feel free to play around with this to get the quality or file sizes you want.
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