Re: Missing Frames

Posted by Montana on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Missing-Frames-tp7840p7878.html

Doing some digging, it seems like the timestamps from frame.get_timestamp() on the rpi can be very wrong, and jump forward greatly. The syncer then gets confused when one frame jumps forward and the other was the old time.

DT on video frames (15hz target, units ms):
72.48
74.75
72.49
70.22
0.00    <== this frame is actually a repeat of the previous
27178.48     <== big jump forward, then continues on
70.18
70.18
70.18
70.18

A time stamp that is more consistent, but less accurate, is frame.get_frame_metadata(RS2_FRAME_METADATA_TIME_OF_ARRIVAL), which is a system time from after the usb message was received from the device. See here.  Other options would be to look for these occurrences and drop them and wait for the next frames to process.