Cannot save depth frames using rs2::frame::keep() #2223

heavyman1 · 2018-08-11T00:47:27Z

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Required Info
Camera Model	D435
Firmware Version	05.09.13.00
Operating System & Version	Ubuntu 16.04.1
Kernel Version (Linux Only)	4.13.0-36-generic
Platform	Up Board
SDK Version	2.12.0
Language	C++
Segment	others

I want to save frames and then post-processing them.
I found below samples from issue #1942.
Color frames are saved successfully, but depth frames are not.
Depth frames are saved only 4 frames, other 96 frames are same with 4th depth frame.
And frame number does not match on linux.

Code :

#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include <iostream>

int main(int argc, char * argv[]) try
{
    const int N = 100;
    std::vector<rs2::frame> colors, depths;

    rs2::pipeline pipe;
    pipe.start();

    for (int i = 0; i < N; i++)
    {
        auto fs = pipe.wait_for_frames();
        
        auto depth = fs.get_depth_frame();
        auto color = fs.get_color_frame();
        
        depth.keep();
        color.keep();
        
        depths.push_back(depth);
        colors.push_back(color);
    }
    
    double preTimestampDepth = depths[0].get_timestamp();
    double preTimestampColor = colors[0].get_timestamp();
    for (int i = 0; i < N; i++)
    {
        double timestampDepth = depths[i].get_timestamp();
        double timestampColor = colors[i].get_timestamp();
        printf("frame [%02d]. depth : frame# %03d, timestamp diff [%7.3f]. color : frame# %03d, timestamp diff[%7.3f].\n", i, 
            depths[i].get_frame_number(), timestampDepth - preTimestampDepth,
            colors[i].get_frame_number(), timestampColor - preTimestampColor);
        preTimestampDepth = timestampDepth;
        preTimestampColor = timestampColor;
    }

    return EXIT_SUCCESS;
}
catch (const rs2::error & e)
{
    std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << std::endl;
    return EXIT_FAILURE;
}
catch (const std::exception& e)
{
    std::cerr << e.what() << std::endl;
    return EXIT_FAILURE;
}

Result :
frame [00]. depth : frame# 007, timestamp diff [ 0.000]. color : frame# 001, timestamp diff[ 0.000].
frame [01]. depth : frame# 007, timestamp diff [ 0.000]. color : frame# 002, timestamp diff[ 36.036].
frame [02]. depth : frame# 008, timestamp diff [ 33.340]. color : frame# 003, timestamp diff[ 30.633].
frame [03]. depth : frame# 009, timestamp diff [ 33.340]. color : frame# 004, timestamp diff[ 33.685].
frame [04]. depth : frame# 010, timestamp diff [ 33.312]. color : frame# 005, timestamp diff[ 33.517].
frame [05]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 006, timestamp diff[ 33.563].
frame [06]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 007, timestamp diff[ 33.681].
frame [07]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 008, timestamp diff[ 33.490].
frame [08]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 009, timestamp diff[ 33.790].
frame [09]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 010, timestamp diff[ 33.567].
frame [10]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 011, timestamp diff[ 34.675].
frame [11]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 012, timestamp diff[ 32.426].
frame [12]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 013, timestamp diff[ 33.600].
frame [13]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 014, timestamp diff[ 33.646].
frame [14]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 015, timestamp diff[ 33.656].
frame [15]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 016, timestamp diff[ 33.619].
frame [16]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 017, timestamp diff[ 33.420].
frame [17]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 018, timestamp diff[ 33.681].
frame [18]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 019, timestamp diff[ 33.528].
frame [19]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 020, timestamp diff[ 33.589].
frame [20]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 021, timestamp diff[ 33.663].
frame [21]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 022, timestamp diff[ 33.543].
frame [22]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 023, timestamp diff[ 33.659].
frame [23]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 024, timestamp diff[ 33.574].
frame [24]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 025, timestamp diff[ 33.574].
frame [25]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 026, timestamp diff[ 33.661].
frame [26]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 027, timestamp diff[ 33.515].
frame [27]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 028, timestamp diff[ 33.677].
frame [28]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 029, timestamp diff[ 33.531].
frame [29]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 030, timestamp diff[ 33.617].
frame [30]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 031, timestamp diff[ 33.650].
frame [31]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 032, timestamp diff[ 33.535].
frame [32]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 033, timestamp diff[ 33.573].
frame [33]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 034, timestamp diff[ 33.614].
frame [34]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 035, timestamp diff[ 33.582].
frame [35]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 036, timestamp diff[ 33.614].
frame [36]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 037, timestamp diff[ 33.604].
frame [37]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 038, timestamp diff[ 33.584].
frame [38]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 039, timestamp diff[ 33.602].
frame [39]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 040, timestamp diff[ 33.593].
frame [40]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 041, timestamp diff[ 33.619].
frame [41]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 042, timestamp diff[ 33.591].
frame [42]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 043, timestamp diff[ 33.591].
frame [43]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 044, timestamp diff[ 33.595].
frame [44]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 045, timestamp diff[ 33.605].
frame [45]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 046, timestamp diff[ 33.625].
frame [46]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 047, timestamp diff[ 33.679].
frame [47]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 048, timestamp diff[ 33.521].
frame [48]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 049, timestamp diff[ 33.598].
frame [49]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 050, timestamp diff[ 33.564].
frame [50]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 051, timestamp diff[ 33.638].
frame [51]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 052, timestamp diff[ 33.595].
frame [52]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 053, timestamp diff[ 33.599].
frame [53]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 054, timestamp diff[ 33.597].
frame [54]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 055, timestamp diff[ 33.711].
frame [55]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 056, timestamp diff[ 33.492].
frame [56]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 057, timestamp diff[ 33.602].
frame [57]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 058, timestamp diff[ 33.564].
frame [58]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 059, timestamp diff[ 33.726].
frame [59]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 060, timestamp diff[ 33.604].
frame [60]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 061, timestamp diff[ 33.500].
frame [61]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 062, timestamp diff[ 33.606].
frame [62]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 063, timestamp diff[ 33.602].
frame [63]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 064, timestamp diff[ 33.587].
frame [64]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 065, timestamp diff[ 33.591].
frame [65]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 066, timestamp diff[ 33.732].
frame [66]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 067, timestamp diff[ 33.504].
frame [67]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 068, timestamp diff[ 33.683].
frame [68]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 069, timestamp diff[ 33.582].
frame [69]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 070, timestamp diff[ 33.601].
frame [70]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 071, timestamp diff[ 33.637].
frame [71]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 072, timestamp diff[ 33.571].
frame [72]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 073, timestamp diff[ 33.601].
frame [73]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 074, timestamp diff[ 33.594].
frame [74]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 075, timestamp diff[ 33.482].
frame [75]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 076, timestamp diff[ 33.610].
frame [76]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 077, timestamp diff[ 33.597].
frame [77]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 078, timestamp diff[ 33.728].
frame [78]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 079, timestamp diff[ 33.572].
frame [79]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 080, timestamp diff[ 33.456].
frame [80]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 081, timestamp diff[ 33.760].
frame [81]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 082, timestamp diff[ 33.593].
frame [82]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 083, timestamp diff[ 33.451].
frame [83]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 084, timestamp diff[ 33.592].
frame [84]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 085, timestamp diff[ 33.600].
frame [85]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 086, timestamp diff[ 33.865].
frame [86]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 087, timestamp diff[ 33.484].
frame [87]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 088, timestamp diff[ 33.607].
frame [88]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 089, timestamp diff[ 33.596].
frame [89]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 090, timestamp diff[ 33.581].
frame [90]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 091, timestamp diff[ 33.619].
frame [91]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 092, timestamp diff[ 33.593].
frame [92]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 093, timestamp diff[ 33.604].
frame [93]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 094, timestamp diff[ 33.643].
frame [94]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 095, timestamp diff[ 33.529].
frame [95]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 096, timestamp diff[ 33.629].
frame [96]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 097, timestamp diff[ 33.482].
frame [97]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 098, timestamp diff[ 33.716].
frame [98]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 099, timestamp diff[ 33.480].
frame [99]. depth : frame# 010, timestamp diff [ 0.000]. color : frame# 100, timestamp diff[ 33.671].

This is a result from windows 10 x64
frame [00]. depth : frame# 001, timestamp diff [ 0.000]. color : frame# 001, timestamp diff[ 0.000].
frame [01]. depth : frame# 002, timestamp diff [ 33.267]. color : frame# 001, timestamp diff[ 0.000].
frame [02]. depth : frame# 002, timestamp diff [ 0.000]. color : frame# 002, timestamp diff[ 33.355].
frame [03]. depth : frame# 003, timestamp diff [ 33.194]. color : frame# 003, timestamp diff[ 34.060].
frame [04]. depth : frame# 004, timestamp diff [ 32.887]. color : frame# 004, timestamp diff[ 32.896].
frame [05]. depth : frame# 005, timestamp diff [ 33.927]. color : frame# 005, timestamp diff[ 34.068].
frame [06]. depth : frame# 006, timestamp diff [ 32.723]. color : frame# 006, timestamp diff[ 33.144].
frame [07]. depth : frame# 007, timestamp diff [ 33.554]. color : frame# 007, timestamp diff[ 33.835].
frame [08]. depth : frame# 008, timestamp diff [ 33.250]. color : frame# 008, timestamp diff[ 33.382].
frame [09]. depth : frame# 009, timestamp diff [ 33.223]. color : frame# 009, timestamp diff[ 33.746].
frame [10]. depth : frame# 010, timestamp diff [ 33.146]. color : frame# 010, timestamp diff[ 33.490].
frame [11]. depth : frame# 011, timestamp diff [ 33.684]. color : frame# 011, timestamp diff[ 33.594].
frame [12]. depth : frame# 012, timestamp diff [ 33.443]. color : frame# 012, timestamp diff[ 33.666].
frame [13]. depth : frame# 013, timestamp diff [ 33.421]. color : frame# 013, timestamp diff[ 33.485].
frame [14]. depth : frame# 014, timestamp diff [ 33.188]. color : frame# 014, timestamp diff[ 33.468].
frame [15]. depth : frame# 015, timestamp diff [ 33.083]. color : frame# 015, timestamp diff[ 33.706].
frame [16]. depth : frame# 016, timestamp diff [ 34.029]. color : frame# 016, timestamp diff[ 34.145].
frame [17]. depth : frame# 017, timestamp diff [ 33.014]. color : frame# 017, timestamp diff[ 33.708].
frame [18]. depth : frame# 018, timestamp diff [ 33.207]. color : frame# 018, timestamp diff[ 33.179].
frame [19]. depth : frame# 019, timestamp diff [ 33.196]. color : frame# 019, timestamp diff[ 33.496].
frame [20]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 021, timestamp diff[ 67.272].
frame [21]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 022, timestamp diff[ 33.573].
frame [22]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 023, timestamp diff[ 33.514].
frame [23]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 024, timestamp diff[ 33.592].
frame [24]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 025, timestamp diff[ 33.458].
frame [25]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 026, timestamp diff[ 33.721].
frame [26]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 027, timestamp diff[ 33.583].
frame [27]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 028, timestamp diff[ 33.758].
frame [28]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 029, timestamp diff[ 33.579].
frame [29]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 030, timestamp diff[ 33.551].
frame [30]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 031, timestamp diff[ 33.716].
frame [31]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 032, timestamp diff[ 33.551].
frame [32]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 033, timestamp diff[ 34.000].
frame [33]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 034, timestamp diff[ 33.719].
frame [34]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 035, timestamp diff[ 33.487].
frame [35]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 036, timestamp diff[ 32.981].
frame [36]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 037, timestamp diff[ 33.471].
frame [37]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 038, timestamp diff[ 33.730].
frame [38]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 039, timestamp diff[ 33.568].
frame [39]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 040, timestamp diff[ 33.657].
frame [40]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 041, timestamp diff[ 34.553].
frame [41]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 042, timestamp diff[ 33.253].
frame [42]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 043, timestamp diff[ 33.373].
frame [43]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 044, timestamp diff[ 34.005].
frame [44]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 045, timestamp diff[ 33.501].
frame [45]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 046, timestamp diff[ 33.695].
frame [46]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 047, timestamp diff[ 33.089].
frame [47]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 048, timestamp diff[ 33.982].
frame [48]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 049, timestamp diff[ 33.264].
frame [49]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 050, timestamp diff[ 33.865].
frame [50]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 051, timestamp diff[ 33.328].
frame [51]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 052, timestamp diff[ 33.546].
frame [52]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 053, timestamp diff[ 33.501].
frame [53]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 054, timestamp diff[ 33.449].
frame [54]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 055, timestamp diff[ 33.892].
frame [55]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 056, timestamp diff[ 33.913].
frame [56]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 057, timestamp diff[ 33.684].
frame [57]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 058, timestamp diff[ 33.698].
frame [58]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 059, timestamp diff[ 33.678].
frame [59]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 060, timestamp diff[ 33.439].
frame [60]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 061, timestamp diff[ 33.719].
frame [61]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 062, timestamp diff[ 33.642].
frame [62]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 063, timestamp diff[ 33.747].
frame [63]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 064, timestamp diff[ 33.338].
frame [64]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 065, timestamp diff[ 32.963].
frame [65]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 066, timestamp diff[ 34.074].
frame [66]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 067, timestamp diff[ 33.533].
frame [67]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 068, timestamp diff[ 33.131].
frame [68]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 069, timestamp diff[ 33.421].
frame [69]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 070, timestamp diff[ 33.641].
frame [70]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 071, timestamp diff[ 34.066].
frame [71]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 072, timestamp diff[ 33.523].
frame [72]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 073, timestamp diff[ 33.655].
frame [73]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 074, timestamp diff[ 33.525].
frame [74]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 075, timestamp diff[ 33.337].
frame [75]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 076, timestamp diff[ 33.415].
frame [76]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 077, timestamp diff[ 33.597].
frame [77]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 078, timestamp diff[ 33.797].
frame [78]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 079, timestamp diff[ 33.604].
frame [79]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 080, timestamp diff[ 33.458].
frame [80]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 081, timestamp diff[ 33.939].
frame [81]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 082, timestamp diff[ 33.403].
frame [82]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 083, timestamp diff[ 34.021].
frame [83]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 084, timestamp diff[ 33.530].
frame [84]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 085, timestamp diff[ 33.702].
frame [85]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 086, timestamp diff[ 33.525].
frame [86]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 087, timestamp diff[ 33.548].
frame [87]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 088, timestamp diff[ 33.656].
frame [88]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 089, timestamp diff[ 33.650].
frame [89]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 090, timestamp diff[ 33.340].
frame [90]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 091, timestamp diff[ 33.644].
frame [91]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 092, timestamp diff[ 34.935].
frame [92]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 093, timestamp diff[ 32.685].
frame [93]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 094, timestamp diff[ 34.339].
frame [94]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 095, timestamp diff[ 32.456].
frame [95]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 096, timestamp diff[ 34.880].
frame [96]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 097, timestamp diff[ 33.164].
frame [97]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 098, timestamp diff[ 32.672].
frame [98]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 099, timestamp diff[ 33.039].
frame [99]. depth : frame# 019, timestamp diff [ 0.000]. color : frame# 100, timestamp diff[ 33.621].

The text was updated successfully, but these errors were encountered:

dorodnic · 2018-08-12T15:21:16Z

Hi @heavyman1
I tried the code snippet on version 2.15 and 2.12, on Mac and Ubuntu, but for me everything worked as expected. Is there anything else special about your setup / reproduction code?
I tried with Ubuntu 16.04 with D400 kernel patches applied, perhaps this can make a difference? (I'm not sure why would it)

dorodnic · 2018-08-12T15:22:07Z

Is the camera connected via USB3 or USB2? What about realsense-viewer? Are you getting stable video from both sensors?

heavyman1 · 2018-08-13T10:31:38Z

Camera is connected via USB3. Video from both sensors are stable.

The code snippet in issue #1942, you keep frame after post-processing.
But I do not apply post-processing filters to the depth frame from frameset.
I want to save frames, and then applying post-processing filters after acquiring frames are finished.

When I do not apply post-processing filter to the depth frame from frameset, I can not acquire new depth frame.

int main()
{
    try
    {
        const int N = 100;
        std::vector<rs2::frame> colors, depths;

        rs2::decimation_filter dec_filter;
        rs2::spatial_filter spat_filter;
        rs2::temporal_filter temp_filter;
        rs2::disparity_transform depth_to_disparity(true);
        rs2::disparity_transform disparity_to_depth(false);

        rs2::config config;
        config.enable_stream(RS2_STREAM_DEPTH, 848, 480, RS2_FORMAT_Z16, 30);
        config.enable_stream(RS2_STREAM_COLOR, 848, 480, RS2_FORMAT_RGB8, 30);
        rs2::pipeline pipe;
        pipe.start(config);

        for (int i = 0; i < N; i++)
        {
            auto fs = pipe.wait_for_frames();
            
            auto depth = fs.get_depth_frame();
            auto color = fs.get_color_frame();

            rs2::frame filtered = std::move(depth);

            // filtered = dec_filter.process(filtered);
            // filtered = depth_to_disparity.process(filtered);
            // filtered = spat_filter.process(filtered);
            // filtered = temp_filter.process(filtered);
            // filtered = disparity_to_depth.process(filtered);

            filtered.keep();
            color.keep();
            
            depths.push_back(filtered);
            colors.push_back(color);
        }
        
        double preTimestampDepth = depths[0].get_timestamp();
        double preTimestampColor = colors[0].get_timestamp();
        for (int i = 0; i < N; i++)
        {
            double timestampDepth = depths[i].get_timestamp();
            double timestampColor = colors[i].get_timestamp();
            printf("frame [%02d]. depth : frame# %03lld, timestamp diff [%7.3f]. color : frame# %03lld, timestamp diff[%7.3f].\n", i, 
                depths[i].get_frame_number(), timestampDepth - preTimestampDepth,
                colors[i].get_frame_number(), timestampColor - preTimestampColor);
            preTimestampDepth = timestampDepth;
            preTimestampColor = timestampColor;
        }
    }
    catch (const rs2::error & e)
    {
        std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << std::endl;
    }
    catch (const std::exception& e)
    {
        std::cerr << e.what() << std::endl;
    }
}

Result:
frame [00]. depth : frame# 008, timestamp diff [  0.000]. color : frame# 001, timestamp diff[  0.000].
frame [01]. depth : frame# 008, timestamp diff [  0.000]. color : frame# 002, timestamp diff[ 44.875].
frame [02]. depth : frame# 009, timestamp diff [ 33.283]. color : frame# 003, timestamp diff[ 33.433].
frame [03]. depth : frame# 010, timestamp diff [ 33.362]. color : frame# 004, timestamp diff[ 33.352].
frame [04]. depth : frame# 011, timestamp diff [ 33.322]. color : frame# 005, timestamp diff[ 33.404].
frame [05]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 007, timestamp diff[ 64.990].
frame [06]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 009, timestamp diff[ 63.227].
frame [07]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 010, timestamp diff[ 31.612].
frame [08]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 011, timestamp diff[ 41.065].
frame [09]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 012, timestamp diff[ 42.390].
frame [10]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 013, timestamp diff[ 30.138].
frame [11]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 014, timestamp diff[ 31.624].
frame [12]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 015, timestamp diff[ 31.669].
frame [13]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 016, timestamp diff[ 31.427].
frame [14]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 017, timestamp diff[ 31.461].
frame [15]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 018, timestamp diff[ 31.378].
frame [16]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 019, timestamp diff[ 31.421].
frame [17]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 020, timestamp diff[ 31.414].
frame [18]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 021, timestamp diff[ 33.399].
frame [19]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 022, timestamp diff[ 33.251].
frame [20]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 023, timestamp diff[ 34.433].
frame [21]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 024, timestamp diff[ 33.094].
frame [22]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 025, timestamp diff[ 34.020].
frame [23]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 026, timestamp diff[ 33.368].
frame [24]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 027, timestamp diff[ 33.563].
frame [25]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 028, timestamp diff[ 33.677].
frame [26]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 029, timestamp diff[ 33.587].
frame [27]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 030, timestamp diff[ 33.626].
frame [28]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 031, timestamp diff[ 33.666].
frame [29]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 032, timestamp diff[ 33.470].
frame [30]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 033, timestamp diff[ 33.505].
frame [31]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 034, timestamp diff[ 33.861].
frame [32]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 035, timestamp diff[ 33.319].
frame [33]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 036, timestamp diff[ 33.536].
frame [34]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 037, timestamp diff[ 34.113].
frame [35]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 038, timestamp diff[ 33.366].
frame [36]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 039, timestamp diff[ 33.538].
frame [37]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 040, timestamp diff[ 33.784].
frame [38]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 041, timestamp diff[ 33.020].
frame [39]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 042, timestamp diff[ 51.096].
frame [40]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 043, timestamp diff[ 32.505].
frame [41]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 044, timestamp diff[ 32.448].
frame [42]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 045, timestamp diff[ 32.486].
frame [43]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 046, timestamp diff[ 32.498].
frame [44]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 047, timestamp diff[ 32.558].
frame [45]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 048, timestamp diff[ 32.918].
frame [46]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 049, timestamp diff[ 32.508].
frame [47]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 050, timestamp diff[ 32.504].
frame [48]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 051, timestamp diff[ 32.505].
frame [49]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 052, timestamp diff[ 32.552].
frame [50]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 053, timestamp diff[ 32.533].
frame [51]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 054, timestamp diff[ 32.459].
frame [52]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 055, timestamp diff[ 32.610].
frame [53]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 056, timestamp diff[ 32.438].
frame [54]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 057, timestamp diff[ 32.356].
frame [55]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 058, timestamp diff[ 32.498].
frame [56]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 059, timestamp diff[ 33.443].
frame [57]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 060, timestamp diff[ 33.028].
frame [58]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 061, timestamp diff[ 33.536].
frame [59]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 062, timestamp diff[ 33.600].
frame [60]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 063, timestamp diff[ 33.987].
frame [61]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 064, timestamp diff[ 34.166].
frame [62]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 065, timestamp diff[ 32.870].
frame [63]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 066, timestamp diff[ 33.759].
frame [64]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 067, timestamp diff[ 33.856].
frame [65]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 068, timestamp diff[ 32.946].
frame [66]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 069, timestamp diff[ 33.784].
frame [67]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 070, timestamp diff[ 33.536].
frame [68]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 071, timestamp diff[ 33.918].
frame [69]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 072, timestamp diff[ 33.349].
frame [70]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 073, timestamp diff[ 33.905].
frame [71]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 074, timestamp diff[ 33.273].
frame [72]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 075, timestamp diff[ 52.215].
frame [73]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 076, timestamp diff[ 31.461].
frame [74]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 077, timestamp diff[ 31.404].
frame [75]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 078, timestamp diff[ 31.479].
frame [76]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 079, timestamp diff[ 31.419].
frame [77]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 080, timestamp diff[ 32.713].
frame [78]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 081, timestamp diff[ 31.405].
frame [79]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 082, timestamp diff[ 32.292].
frame [80]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 083, timestamp diff[ 32.036].
frame [81]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 084, timestamp diff[ 31.674].
frame [82]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 085, timestamp diff[ 31.486].
frame [83]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 086, timestamp diff[ 33.552].
frame [84]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 087, timestamp diff[ 33.797].
frame [85]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 088, timestamp diff[ 33.583].
frame [86]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 089, timestamp diff[ 33.602].
frame [87]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 090, timestamp diff[ 33.654].
frame [88]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 091, timestamp diff[ 33.681].
frame [89]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 092, timestamp diff[ 33.687].
frame [90]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 093, timestamp diff[ 33.498].
frame [91]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 094, timestamp diff[ 33.574].
frame [92]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 095, timestamp diff[ 34.383].
frame [93]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 096, timestamp diff[ 32.604].
frame [94]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 097, timestamp diff[ 34.414].
frame [95]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 098, timestamp diff[ 33.005].
frame [96]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 099, timestamp diff[ 33.706].
frame [97]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 100, timestamp diff[ 33.592].
frame [98]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 101, timestamp diff[ 33.577].
frame [99]. depth : frame# 011, timestamp diff [  0.000]. color : frame# 102, timestamp diff[ 33.419].

But i do apply post-processing filter to the depth frame and then keep it, the problem is gone.

int main()
{
    try
    {
        const int N = 100;
        std::vector<rs2::frame> colors, depths;

        rs2::decimation_filter dec_filter;
        rs2::spatial_filter spat_filter;
        rs2::temporal_filter temp_filter;
        rs2::disparity_transform depth_to_disparity(true);
        rs2::disparity_transform disparity_to_depth(false);

        rs2::config config;
        config.enable_stream(RS2_STREAM_DEPTH, 848, 480, RS2_FORMAT_Z16, 30);
        config.enable_stream(RS2_STREAM_COLOR, 848, 480, RS2_FORMAT_RGB8, 30);
        rs2::pipeline pipe;
        pipe.start(config);

        for (int i = 0; i < N; i++)
        {
            auto fs = pipe.wait_for_frames();
            
            auto depth = fs.get_depth_frame();
            auto color = fs.get_color_frame();

            rs2::frame filtered = std::move(depth);

            filtered = dec_filter.process(filtered);
            filtered = depth_to_disparity.process(filtered);
            filtered = spat_filter.process(filtered);
            filtered = temp_filter.process(filtered);
            filtered = disparity_to_depth.process(filtered);

            filtered.keep();
            color.keep();
            
            depths.push_back(filtered);
            colors.push_back(color);
        }
        
        double preTimestampDepth = depths[0].get_timestamp();
        double preTimestampColor = colors[0].get_timestamp();
        for (int i = 0; i < N; i++)
        {
            double timestampDepth = depths[i].get_timestamp();
            double timestampColor = colors[i].get_timestamp();
            printf("frame [%02d]. depth : frame# %03lld, timestamp diff [%7.3f]. color : frame# %03lld, timestamp diff[%7.3f].\n", i, 
                depths[i].get_frame_number(), timestampDepth - preTimestampDepth,
                colors[i].get_frame_number(), timestampColor - preTimestampColor);
            preTimestampDepth = timestampDepth;
            preTimestampColor = timestampColor;
        }
    }
    catch (const rs2::error & e)
    {
        std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << std::endl;
    }
    catch (const std::exception& e)
    {
        std::cerr << e.what() << std::endl;
    }
}

Result:
frame [00]. depth : frame# 008, timestamp diff [  0.000]. color : frame# 001, timestamp diff[  0.000].
frame [01]. depth : frame# 010, timestamp diff [ 67.944]. color : frame# 004, timestamp diff[110.823].
frame [02]. depth : frame# 012, timestamp diff [ 65.421]. color : frame# 006, timestamp diff[ 65.614].
frame [03]. depth : frame# 013, timestamp diff [ 33.339]. color : frame# 007, timestamp diff[ 34.270].
frame [04]. depth : frame# 015, timestamp diff [ 66.777]. color : frame# 009, timestamp diff[ 66.159].
frame [05]. depth : frame# 016, timestamp diff [ 33.286]. color : frame# 010, timestamp diff[ 35.176].
frame [06]. depth : frame# 017, timestamp diff [ 33.372]. color : frame# 011, timestamp diff[ 32.257].
frame [07]. depth : frame# 019, timestamp diff [ 66.617]. color : frame# 013, timestamp diff[ 68.531].
frame [08]. depth : frame# 020, timestamp diff [ 33.379]. color : frame# 014, timestamp diff[ 34.271].
frame [09]. depth : frame# 022, timestamp diff [ 66.760]. color : frame# 016, timestamp diff[ 66.110].
frame [10]. depth : frame# 023, timestamp diff [ 33.335]. color : frame# 017, timestamp diff[ 34.360].
frame [11]. depth : frame# 025, timestamp diff [ 66.649]. color : frame# 019, timestamp diff[ 66.088].
frame [12]. depth : frame# 026, timestamp diff [ 33.236]. color : frame# 020, timestamp diff[ 36.076].
frame [13]. depth : frame# 027, timestamp diff [ 33.365]. color : frame# 021, timestamp diff[ 32.522].
frame [14]. depth : frame# 029, timestamp diff [ 66.764]. color : frame# 023, timestamp diff[ 68.665].
frame [15]. depth : frame# 030, timestamp diff [ 33.298]. color : frame# 024, timestamp diff[ 34.870].
frame [16]. depth : frame# 032, timestamp diff [ 66.655]. color : frame# 026, timestamp diff[ 67.671].
frame [17]. depth : frame# 033, timestamp diff [ 33.330]. color : frame# 027, timestamp diff[ 35.362].
frame [18]. depth : frame# 034, timestamp diff [ 33.331]. color : frame# 028, timestamp diff[ 35.434].
frame [19]. depth : frame# 035, timestamp diff [ 33.357]. color : frame# 029, timestamp diff[ 36.319].
frame [20]. depth : frame# 038, timestamp diff [100.074]. color : frame# 031, timestamp diff[ 77.611].
frame [21]. depth : frame# 039, timestamp diff [ 33.288]. color : frame# 032, timestamp diff[ 35.597].
frame [22]. depth : frame# 041, timestamp diff [ 66.709]. color : frame# 034, timestamp diff[ 67.139].
frame [23]. depth : frame# 042, timestamp diff [ 33.292]. color : frame# 035, timestamp diff[ 33.455].
frame [24]. depth : frame# 044, timestamp diff [ 66.763]. color : frame# 037, timestamp diff[ 65.663].
frame [25]. depth : frame# 045, timestamp diff [ 33.353]. color : frame# 038, timestamp diff[ 32.808].
frame [26]. depth : frame# 047, timestamp diff [ 66.653]. color : frame# 040, timestamp diff[ 65.706].
frame [27]. depth : frame# 049, timestamp diff [ 66.688]. color : frame# 042, timestamp diff[ 64.795].
frame [28]. depth : frame# 050, timestamp diff [ 33.320]. color : frame# 043, timestamp diff[ 33.371].
frame [29]. depth : frame# 051, timestamp diff [ 33.322]. color : frame# 045, timestamp diff[ 63.503].
frame [30]. depth : frame# 052, timestamp diff [ 33.365]. color : frame# 046, timestamp diff[ 33.895].
frame [31]. depth : frame# 054, timestamp diff [ 66.765]. color : frame# 048, timestamp diff[ 65.666].
frame [32]. depth : frame# 055, timestamp diff [ 33.240]. color : frame# 049, timestamp diff[ 34.735].
frame [33]. depth : frame# 057, timestamp diff [ 66.675]. color : frame# 051, timestamp diff[ 64.108].
frame [34]. depth : frame# 059, timestamp diff [ 66.845]. color : frame# 052, timestamp diff[ 35.043].
frame [35]. depth : frame# 059, timestamp diff [  0.000]. color : frame# 053, timestamp diff[ 32.643].
frame [36]. depth : frame# 061, timestamp diff [ 66.548]. color : frame# 055, timestamp diff[ 67.374].
frame [37]. depth : frame# 062, timestamp diff [ 33.326]. color : frame# 056, timestamp diff[ 33.394].
frame [38]. depth : frame# 064, timestamp diff [ 66.697]. color : frame# 058, timestamp diff[ 66.125].
frame [39]. depth : frame# 065, timestamp diff [ 33.343]. color : frame# 059, timestamp diff[ 33.562].
frame [40]. depth : frame# 067, timestamp diff [ 66.734]. color : frame# 061, timestamp diff[ 67.252].
frame [41]. depth : frame# 068, timestamp diff [ 33.311]. color : frame# 062, timestamp diff[ 33.221].
frame [42]. depth : frame# 070, timestamp diff [ 66.669]. color : frame# 064, timestamp diff[ 66.406].
frame [43]. depth : frame# 071, timestamp diff [ 33.448]. color : frame# 065, timestamp diff[ 33.438].
frame [44]. depth : frame# 073, timestamp diff [ 66.833]. color : frame# 067, timestamp diff[ 67.099].
frame [45]. depth : frame# 074, timestamp diff [ 33.067]. color : frame# 068, timestamp diff[ 33.536].
frame [46]. depth : frame# 076, timestamp diff [ 66.702]. color : frame# 070, timestamp diff[ 65.651].
frame [47]. depth : frame# 077, timestamp diff [ 33.344]. color : frame# 071, timestamp diff[ 33.591].
frame [48]. depth : frame# 079, timestamp diff [ 66.683]. color : frame# 073, timestamp diff[ 66.163].
frame [49]. depth : frame# 080, timestamp diff [ 33.338]. color : frame# 074, timestamp diff[ 33.335].
frame [50]. depth : frame# 082, timestamp diff [ 66.800]. color : frame# 076, timestamp diff[ 65.921].
frame [51]. depth : frame# 083, timestamp diff [ 33.271]. color : frame# 077, timestamp diff[ 33.720].
frame [52]. depth : frame# 085, timestamp diff [ 66.786]. color : frame# 079, timestamp diff[ 65.693].
frame [53]. depth : frame# 086, timestamp diff [ 33.499]. color : frame# 080, timestamp diff[ 33.214].
frame [54]. depth : frame# 088, timestamp diff [ 66.455]. color : frame# 082, timestamp diff[ 64.957].
frame [55]. depth : frame# 089, timestamp diff [ 33.321]. color : frame# 083, timestamp diff[ 33.365].
frame [56]. depth : frame# 091, timestamp diff [ 66.655]. color : frame# 085, timestamp diff[ 67.253].
frame [57]. depth : frame# 092, timestamp diff [ 33.380]. color : frame# 086, timestamp diff[ 34.060].
frame [58]. depth : frame# 094, timestamp diff [ 66.608]. color : frame# 088, timestamp diff[ 64.607].
frame [59]. depth : frame# 095, timestamp diff [ 33.419]. color : frame# 089, timestamp diff[ 34.479].
frame [60]. depth : frame# 097, timestamp diff [ 66.625]. color : frame# 091, timestamp diff[ 65.307].
frame [61]. depth : frame# 098, timestamp diff [ 33.346]. color : frame# 092, timestamp diff[ 33.935].
frame [62]. depth : frame# 100, timestamp diff [ 66.760]. color : frame# 094, timestamp diff[ 65.293].
frame [63]. depth : frame# 101, timestamp diff [ 33.376]. color : frame# 095, timestamp diff[ 34.240].
frame [64]. depth : frame# 103, timestamp diff [ 66.619]. color : frame# 097, timestamp diff[ 65.424].
frame [65]. depth : frame# 104, timestamp diff [ 33.299]. color : frame# 098, timestamp diff[ 33.392].
frame [66]. depth : frame# 106, timestamp diff [ 66.801]. color : frame# 100, timestamp diff[ 65.051].
frame [67]. depth : frame# 107, timestamp diff [ 33.436]. color : frame# 101, timestamp diff[ 34.244].
frame [68]. depth : frame# 109, timestamp diff [ 66.442]. color : frame# 103, timestamp diff[ 69.208].
frame [69]. depth : frame# 111, timestamp diff [ 66.756]. color : frame# 104, timestamp diff[ 37.375].
frame [70]. depth : frame# 112, timestamp diff [ 33.290]. color : frame# 105, timestamp diff[ 36.365].
frame [71]. depth : frame# 114, timestamp diff [ 66.681]. color : frame# 107, timestamp diff[ 75.225].
frame [72]. depth : frame# 115, timestamp diff [ 33.479]. color : frame# 108, timestamp diff[ 35.718].
frame [73]. depth : frame# 117, timestamp diff [ 66.705]. color : frame# 110, timestamp diff[ 66.133].
frame [74]. depth : frame# 118, timestamp diff [ 33.347]. color : frame# 111, timestamp diff[ 35.100].
frame [75]. depth : frame# 119, timestamp diff [ 33.262]. color : frame# 112, timestamp diff[ 32.386].
frame [76]. depth : frame# 121, timestamp diff [ 66.636]. color : frame# 114, timestamp diff[ 69.140].
frame [77]. depth : frame# 122, timestamp diff [ 33.412]. color : frame# 115, timestamp diff[ 34.752].
frame [78]. depth : frame# 123, timestamp diff [ 33.275]. color : frame# 116, timestamp diff[ 32.295].
frame [79]. depth : frame# 125, timestamp diff [ 66.724]. color : frame# 118, timestamp diff[ 78.540].
frame [80]. depth : frame# 126, timestamp diff [ 33.295]. color : frame# 119, timestamp diff[ 34.092].
frame [81]. depth : frame# 128, timestamp diff [ 66.680]. color : frame# 121, timestamp diff[ 66.409].
frame [82]. depth : frame# 129, timestamp diff [ 33.386]. color : frame# 122, timestamp diff[ 33.980].
frame [83]. depth : frame# 131, timestamp diff [ 66.683]. color : frame# 124, timestamp diff[ 65.124].
frame [84]. depth : frame# 132, timestamp diff [ 33.361]. color : frame# 125, timestamp diff[ 32.844].
frame [85]. depth : frame# 134, timestamp diff [ 66.604]. color : frame# 127, timestamp diff[ 64.857].
frame [86]. depth : frame# 135, timestamp diff [ 33.375]. color : frame# 128, timestamp diff[ 33.693].
frame [87]. depth : frame# 137, timestamp diff [ 66.681]. color : frame# 130, timestamp diff[ 65.056].
frame [88]. depth : frame# 138, timestamp diff [ 33.332]. color : frame# 131, timestamp diff[ 33.619].
frame [89]. depth : frame# 140, timestamp diff [ 66.772]. color : frame# 133, timestamp diff[ 65.892].
frame [90]. depth : frame# 141, timestamp diff [ 33.292]. color : frame# 134, timestamp diff[ 33.903].
frame [91]. depth : frame# 143, timestamp diff [ 66.652]. color : frame# 136, timestamp diff[ 67.289].
frame [92]. depth : frame# 144, timestamp diff [ 33.356]. color : frame# 137, timestamp diff[ 33.882].
frame [93]. depth : frame# 146, timestamp diff [ 66.755]. color : frame# 139, timestamp diff[ 64.936].
frame [94]. depth : frame# 147, timestamp diff [ 33.457]. color : frame# 140, timestamp diff[ 34.197].
frame [95]. depth : frame# 149, timestamp diff [ 66.513]. color : frame# 142, timestamp diff[ 65.741].
frame [96]. depth : frame# 150, timestamp diff [ 33.508]. color : frame# 143, timestamp diff[ 35.449].
frame [97]. depth : frame# 152, timestamp diff [ 66.535]. color : frame# 145, timestamp diff[ 64.814].
frame [98]. depth : frame# 153, timestamp diff [ 33.296]. color : frame# 146, timestamp diff[ 33.997].
frame [99]. depth : frame# 155, timestamp diff [ 66.687]. color : frame# 148, timestamp diff[ 67.584].

But when I apply post-processing filters before saving frames, frame rate is dropped from 30fps to about 20fps.
D435 works as 30fps, but I cannot get next frame within 33ms due to post-pocessing filters.

heavyman1 · 2018-08-17T13:14:37Z

How can i keep depth frame without post-processing filters?

RealSense-Customer-Engineering · 2018-08-22T09:09:05Z

[Realsense Customer Engineering Team Comment]
Hi @heavyman1,

I tried your code (without post-processing) based on librs 2.15.0 + FW5.9.14 and didn't see your issue.
What's your system test configuration?

RealSense-Customer-Engineering · 2018-08-29T01:38:53Z

[Realsense Customer Engineering Team Comment]
Hi @heavyman1,

Let me know if the issue still there?

RealSense-Customer-Engineering · 2018-09-10T02:50:53Z

[Realsense Customer Engineering Team Comment]
Hi @heavyman1,

Do you have any update result based on the latest librealsense and firmware?

RealSense-Customer-Engineering · 2018-09-19T02:47:18Z

[Realsense Customer Engineering Team Comment]
Hi @heavyman1,

any update?

RealSense-Customer-Engineering self-assigned this Aug 13, 2018

RealSense-Customer-Engineering closed this as completed Nov 9, 2018

MartyG-RealSense mentioned this issue Mar 29, 2020

Using keep() method to buffer frames to avoid frame drops. #6146

Closed

MartyG-RealSense mentioned this issue Dec 9, 2021

rs-record frame drops? #10042

Closed

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Cannot save depth frames using rs2::frame::keep() #2223

Cannot save depth frames using rs2::frame::keep() #2223

heavyman1 commented Aug 11, 2018 •

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Cannot save depth frames using rs2::frame::keep() #2223

Cannot save depth frames using rs2::frame::keep() #2223

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heavyman1 commented Aug 11, 2018 • edited Loading

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