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I have images which are H264 encoded. I have generated a video from these images. Do I need to encode this video again to H264?
And also what exactly are keyframes?
You might want to re-check the encoding of the individual images — H.264 is defined for video, not for individual still images.
Once you’ve created the video, H.264 encoding would make sense. In particular a great deal of the compression you get from H.264 is from motion prediction — i.e., you encode a block in one frame based on a similar block in a previous frame (or you can use bidirectional prediction, where it’s based on both a previous and a subsequent frame).
A key frame is one that isn’t predicted from other frames (i.e., an I-frame) that’s used to let something picking up the video in the middle of transmission get synchronized and have a basis for the other frames it’s going to receive.