Frame Drops When Recording Bag File in RealSense Viewer in Windows but Not Ubuntu

[apoorva-sriv]

Required Info
Camera Model	D415, D435
Firmware Version	5.9.14
Operating Systems & Versions	Win 10, Ubuntu 18.04 LTS
Platform	PC
SDK Version	2.13.0

Issue Description

When I record even just one stream as a bag file from RealSense Viewer in Windows and open it in MATLAB, I find that the number of frames recorded is less than the correct amount—e.g. a 5.6 s recording at 25 fps should have 5.6 × 25 = 140 frames, but the bag file contains only 106 frames, even though clicking the information button in the Viewer shows a constant 25.00 fps (after enabling hardware metadata). The problem is worse when multiple streams are recorded, even though we use an NVMe SSD.

There are no frame drops when recording a bag file using RealSense Viewer in Ubuntu 18.04 LTS.

[dorodnic]

Are you using the pre-compiled Viewer?

[apoorva-sriv]

I tried it with that now, but it recorded only 1082 frames for 1280 × 800 Y16 IR1 on D435 for 60 s at 25 fps (ideally, 25 × 60 = 1500 frames).

It worked correctly for a shorter 1280 × 720 depth recording, giving exactly 6.5 s × 30 fps = 195 frames. We also get the correct number of frames when we use C++ (however, saving all the frames to disk only at the end of the recording, since saving the frames to disk while capturing again leads to frame drops).

[MartyG-RealSense]

For reference, below is a link to a similar case on the Intel Support forums from last week with apparent frame drops from recordings when used with MATLAB.

https://communities.intel.com/message/559327#559327

[apoorva-sriv]

Thanks for the reference, @MartyG-RealSense, but I don't think MATLAB is the issue. (I would get the same frame drops on opening the bag file any other way.) I think it is something to do with recording in the RealSense Viewer.

For reference, here are the frame numbers I get from the bag file (which match what is seen in the Viewer). The frames are recorded correctly up to frame number 701, after which only every alternate frame seems to be recorded in general.

Info: D415, 1920 × 1080, 25 fps, IR2, Y16
Link to recorded bag file: http://www.mediafire.com/file/ub8he4kl5nal3z1/20180808_120219.bag/file
Expected number of frames = 60 s × 25 fps = 1500 frames
Actual number = 842 frames (even though 2185 − 676 = 1509)

S. No.) Frame Counter

1. 676
2. 677
3. 678
4. 679
5. 680
6. 681
7. 682
8. 683
9. 684
10. 685
11. 686
12. 687
13. 688
14. 689
15. 690
16. 691
17. 692
18. 693
19. 694
20. 695
21. 696
22. 697
23. 698
24. 699
25. 700
26. 701
27. 703 (Notice that frame 702 was not recorded. This pattern continues in general after here.)
28. 705
29. 706
30. 708
31. 710
32. 711
33. 713
34. 715
35. 716
36. 718
37. 720
38. 721
39. 723
40. 725
41. 727
42. 729
43. 731
44. 733
45. 735
46. 737
47. 739
48. 741
49. 743
50. 745
51. 746
52. 748
53. 750
54. 752
55. 754
56. 756
57. 758
58. 760
59. 762
60. 764
61. 766
62. 768
63. 769
64. 771
65. 773
66. 775
67. 776
68. 778
69. 780
70. 781
71. 783
72. 785
73. 786
74. 788
75. 790
76. 791
77. 793
78. 795
79. 796
80. 798
81. 800
82. 802
83. 804
84. 806
85. 808
86. 810
87. 812
88. 814
89. 816
90. 817
91. 819
92. 821
93. 823
94. 825
95. 827
96. 829
97. 831
98. 833
99. 835
100. 837
101. 839
102. 841
103. 842
104. 844
105. 846
106. 847
107. 849
108. 851
109. 852
110. 854
111. 856
112. 858
113. 859
114. 861
115. 862
116. 864
117. 866
118. 868
119. 869
120. 871
121. 873
122. 875
123. 877
124. 879
125. 880
126. 882
127. 884
128. 886
129. 888
130. 890
131. 892
132. 894
133. 896
134. 898
135. 900
136. 902
137. 904
138. 906
139. 908
140. 910
141. 912
142. 914
143. 916
144. 917
145. 919
146. 921
147. 922
148. 924
149. 926
150. 928
151. 929
152. 931
153. 932
154. 934
155. 936
156. 937
157. 939
158. 941
159. 942
160. 944
161. 946
162. 947
163. 949
164. 951
165. 952
166. 954
167. 956
168. 958
169. 960
170. 962
171. 964
172. 966
173. 968
174. 969
175. 971
176. 973
177. 975
178. 977
179. 979
180. 981
181. 983
182. 985
183. 987
184. 989
185. 991
186. 992
187. 994
188. 996
189. 997
190. 999
191. 1001
192. 1002
193. 1004
194. 1006
195. 1007
196. 1009
197. 1011
198. 1012
199. 1014
200. 1016
201. 1017
202. 1019
203. 1021
204. 1022
205. 1024
206. 1026
207. 1027
208. 1029
209. 1031
210. 1033
211. 1035
212. 1037
213. 1038
214. 1040
215. 1042
216. 1044
217. 1046
218. 1048
219. 1050
220. 1052
221. 1054
222. 1056
223. 1058
224. 1060
225. 1062
226. 1063
227. 1065
228. 1067
229. 1069
230. 1070
231. 1072
232. 1074
233. 1075
234. 1077
235. 1079
236. 1080
237. 1082
238. 1084
239. 1085
240. 1087
241. 1089
242. 1090
243. 1092
244. 1094
245. 1095
246. 1097
247. 1099
248. 1100
249. 1102
250. 1104
251. 1105
252. 1107
253. 1109
254. 1111
255. 1113
256. 1114
257. 1116
258. 1118
259. 1120
260. 1122
261. 1124
262. 1126
263. 1128
264. 1130
265. 1132
266. 1134
267. 1136
268. 1138
269. 1139
270. 1141
271. 1143
272. 1144
273. 1146
274. 1148
275. 1150
276. 1151
277. 1153
278. 1155
279. 1156
280. 1158
281. 1160
282. 1161
283. 1163
284. 1165
285. 1167
286. 1168
287. 1170
288. 1172
289. 1173
290. 1175
291. 1177
292. 1178
293. 1180
294. 1182
295. 1183
296. 1185
297. 1187
298. 1189
299. 1190
300. 1193
301. 1194
302. 1196
303. 1198
304. 1200
305. 1202
306. 1204
307. 1206
308. 1208
309. 1209
310. 1211
311. 1213
312. 1215
313. 1217
314. 1219
315. 1220
316. 1222
317. 1224
318. 1226
319. 1227
320. 1229
321. 1231
322. 1233
323. 1235
324. 1237
325. 1239
326. 1241
327. 1243
328. 1244
329. 1246
330. 1248
331. 1250
332. 1252
333. 1254
334. 1256
335. 1258
336. 1259
337. 1262
338. 1263
339. 1265
340. 1267
341. 1269
342. 1271
343. 1273
344. 1275
345. 1277
346. 1279
347. 1280
348. 1282
349. 1284
350. 1286
351. 1288
352. 1290
353. 1292
354. 1294
355. 1295
356. 1297
357. 1299
358. 1300
359. 1302
360. 1304
361. 1306
362. 1308
363. 1310
364. 1312
365. 1313
366. 1315
367. 1317
368. 1319
369. 1321
370. 1323
371. 1325
372. 1327
373. 1329
374. 1331
375. 1333
376. 1334
377. 1336
378. 1338
379. 1340
380. 1342
381. 1344
382. 1346
383. 1348
384. 1350
385. 1352
386. 1353
387. 1355
388. 1357
389. 1359
390. 1361
391. 1363
392. 1365
393. 1367
394. 1369
395. 1370
396. 1372
397. 1374
398. 1375
399. 1377
400. 1379
401. 1380
402. 1382
403. 1384
404. 1386
405. 1388
406. 1390
407. 1392
408. 1394
409. 1396
410. 1398
411. 1400
412. 1402
413. 1404
414. 1405
415. 1407
416. 1409
417. 1411
418. 1413
419. 1415
420. 1417
421. 1419
422. 1421
423. 1423
424. 1424
425. 1426
426. 1428
427. 1430
428. 1432
429. 1434
430. 1436
431. 1438
432. 1440
433. 1442
434. 1443
435. 1445
436. 1447
437. 1448
438. 1450
439. 1452
440. 1453
441. 1455
442. 1457
443. 1459
444. 1460
445. 1462
446. 1464
447. 1466
448. 1468
449. 1470
450. 1472
451. 1474
452. 1476
453. 1478
454. 1480
455. 1482
456. 1484
457. 1486
458. 1488
459. 1489
460. 1491
461. 1493
462. 1495
463. 1497
464. 1499
465. 1501
466. 1503
467. 1505
468. 1507
469. 1509
470. 1511
471. 1513
472. 1515
473. 1517
474. 1519
475. 1520
476. 1522
477. 1524
478. 1526
479. 1527
480. 1529
481. 1531
482. 1532
483. 1534
484. 1536
485. 1538
486. 1540
487. 1542
488. 1543
489. 1545
490. 1547
491. 1549
492. 1551
493. 1553
494. 1555
495. 1557
496. 1559
497. 1561
498. 1563
499. 1565
500. 1567
501. 1569
502. 1571
503. 1572
504. 1574
505. 1576
506. 1578
507. 1580
508. 1582
509. 1584
510. 1586
511. 1588
512. 1589
513. 1591
514. 1593
515. 1595
516. 1597
517. 1598
518. 1600
519. 1602
520. 1604
521. 1605
522. 1607
523. 1609
524. 1610
525. 1612
526. 1614
527. 1616
528. 1618
529. 1620
530. 1622
531. 1624
532. 1626
533. 1628
534. 1630
535. 1632
536. 1633
537. 1635
538. 1637
539. 1639
540. 1641
541. 1643
542. 1645
543. 1647
544. 1649
545. 1650
546. 1652
547. 1654
548. 1656
549. 1658
550. 1660
551. 1662
552. 1664
553. 1666
554. 1667
555. 1669
556. 1671
557. 1672
558. 1674
559. 1676
560. 1677
561. 1679
562. 1681
563. 1682
564. 1684
565. 1686
566. 1688
567. 1689
568. 1691
569. 1693
570. 1695
571. 1697
572. 1698
573. 1700
574. 1702
575. 1704
576. 1706
577. 1708
578. 1710
579. 1712
580. 1713
581. 1715
582. 1717
583. 1719
584. 1721
585. 1723
586. 1725
587. 1727
588. 1729
589. 1731
590. 1732
591. 1734
592. 1736
593. 1738
594. 1740
595. 1742
596. 1744
597. 1745
598. 1747
599. 1749
600. 1750
601. 1752
602. 1754
603. 1755
604. 1757
605. 1759
606. 1760
607. 1762
608. 1764
609. 1765
610. 1767
611. 1769
612. 1771
613. 1773
614. 1775
615. 1776
616. 1778
617. 1780
618. 1782
619. 1784
620. 1786
621. 1788
622. 1789
623. 1791
624. 1793
625. 1795
626. 1797
627. 1799
628. 1801
629. 1803
630. 1805
631. 1807
632. 1809
633. 1810
634. 1812
635. 1814
636. 1816
637. 1818
638. 1820
639. 1821
640. 1823
641. 1825
642. 1826
643. 1828
644. 1830
645. 1831
646. 1833
647. 1835
648. 1836
649. 1838
650. 1840
651. 1841
652. 1843
653. 1845
654. 1847
655. 1849
656. 1851
657. 1853
658. 1855
659. 1857
660. 1858
661. 1860
662. 1862
663. 1865
664. 1866
665. 1868
666. 1870
667. 1872
668. 1874
669. 1876
670. 1878
671. 1880
672. 1882
673. 1883
674. 1885
675. 1887
676. 1889
677. 1891
678. 1893
679. 1894
680. 1896
681. 1897
682. 1899
683. 1901
684. 1902
685. 1904
686. 1906
687. 1908
688. 1909
689. 1911
690. 1912
691. 1914
692. 1916
693. 1918
694. 1919
695. 1921
696. 1922
697. 1924
698. 1926
699. 1928
700. 1930
701. 1932
702. 1934
703. 1935
704. 1937
705. 1939
706. 1941
707. 1943
708. 1945
709. 1947
710. 1949
711. 1951
712. 1953
713. 1954
714. 1956
715. 1958
716. 1960
717. 1962
718. 1964
719. 1966
720. 1968
721. 1969
722. 1971
723. 1973
724. 1974
725. 1976
726. 1978
727. 1980
728. 1981
729. 1983
730. 1984
731. 1986
732. 1988
733. 1989
734. 1991
735. 1993
736. 1994
737. 1996
738. 1998
739. 1999
740. 2001
741. 2003
742. 2005
743. 2007
744. 2009
745. 2011
746. 2013
747. 2015
748. 2017
749. 2018
750. 2020
751. 2022
752. 2024
753. 2026
754. 2028
755. 2030
756. 2032
757. 2033
758. 2035
759. 2037
760. 2039
761. 2041
762. 2043
763. 2045
764. 2046
765. 2048
766. 2050
767. 2051
768. 2053
769. 2055
770. 2056
771. 2058
772. 2059
773. 2061
774. 2063
775. 2064
776. 2066
777. 2068
778. 2069
779. 2071
780. 2073
781. 2075
782. 2076
783. 2078
784. 2080
785. 2082
786. 2084
787. 2086
788. 2087
789. 2089
790. 2091
791. 2093
792. 2095
793. 2097
794. 2099
795. 2101
796. 2103
797. 2104
798. 2106
799. 2108
800. 2110
801. 2112
802. 2114
803. 2116
804. 2118
805. 2120
806. 2121
807. 2123
808. 2125
809. 2126
810. 2128
811. 2130
812. 2131
813. 2133
814. 2134
815. 2136
816. 2138
817. 2139
818. 2141
819. 2143
820. 2144
821. 2146
822. 2148
823. 2150
824. 2151
825. 2153
826. 2155
827. 2156
828. 2158
829. 2160
830. 2162
831. 2164
832. 2166
833. 2168
834. 2169
835. 2171
836. 2173
837. 2175
838. 2177
839. 2179
840. 2181
841. 2183
842. 2185

[apoorva-sriv]

There are no frame drops when I recorded a bag file with the same specifications as the previous post but using RealSense Viewer in Ubuntu 18.04 LTS instead. Another user had the same experience on the forum here.

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
hi @apoorva2398,

looks like the issue just happen sometimes, i am wondering when you do recording, if there's anything running background?
i know our save to disk will have some frames drop depend on system loading, and from your previous message that before frame 701 all correct, but after framce 701 i see many frame missed, so i am think if the same system loading issue.

[dorodnic]

Most likely this is resolved now in v2.16.1

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
Hi @apoorva2398,

Any update? If no further issue, will close this.

[upxela]

I have a similar problem, using v2.16.1, recording rgb and depth streams, I experience frame drops.

Taking a 60 second video, I should expect 60sec * 30fps = 1800 frames.
I however only get 942 depth frames and 1520 rgb frames.

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
Hi @upxela,

I don't see this issue when I use the realsense-viewer to record a ros-bag file and check total frame number from the bag file is expected based on the recording time. Do you also use the realsense-viewer in v2.16.1 to record and what resolution used? Test it on Ubuntu or Win10?