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How to write RGB & Depth Frames Without Losing Synchronization
I’m currently working on a project where I capture both depth frames and RGB frames using AVCaptureDataOutputSynchronizer. Depth frames are stored as raw binary data and RGB frames are saved with AVAssetWriter. The issue I’m facing is that AVAssetWriter enforces a fixed framerate, meaning it adds or discards frames to maintain that rate (as I understand it). This causes a desynchronization between the depth and RGB frames, which is a problem because I need each depth frame to be exactly matched with the corresponding RGB frame as they were captured. How can I ensure that the RGB frames are saved without AVAssetWriter modifying the frame count?
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Missing Depth Frames When Recording with AVCaptureVideoDataOutputSampleBufferDelegate/AVCaptureDataOutputSynchronizerDelegate and AVAssetWriter
I’ve tried both AVCaptureVideoDataOutputSampleBufferDelegate (captureOutput) and AVCaptureDataOutputSynchronizerDelegate (dataOutputSynchronizer), but the number of depth frames and saved timestamps is significantly lower than the number of frames in the .mp4 file written by AVAssetWriter. In my code, I save: Timestamps for each frame to a metadata file Depth frames to a binary file Video to an .mp4 file If I record a 4-second video at 30fps, the .mp4 file correctly plays for 4 seconds, but the number of stored timestamps and depth frames is much lower—around 70 frames instead of the expected 120. Does anyone know why this mismatch happens? func dataOutputSynchronizer(_ synchronizer: AVCaptureDataOutputSynchronizer, didOutput synchronizedDataCollection: AVCaptureSynchronizedDataCollection) { // Read all outputs guard let syncedDepthData: AVCaptureSynchronizedDepthData = synchronizedDataCollection.synchronizedData(for: depthDataOutput) as? AVCaptureSynchronizedDepthData, let syncedVideoData: AVCaptureSynchronizedSampleBufferData = synchronizedDataCollection.synchronizedData(for: videoDataOutput) as? AVCaptureSynchronizedSampleBufferData else { // only work on synced pairs return } if syncedDepthData.depthDataWasDropped || syncedVideoData.sampleBufferWasDropped { return } let depthData = syncedDepthData.depthData let depthPixelBuffer = depthData.depthDataMap let sampleBuffer = syncedVideoData.sampleBuffer guard let videoPixelBuffer = CMSampleBufferGetImageBuffer(sampleBuffer), let formatDescription = CMSampleBufferGetFormatDescription(sampleBuffer) else { return } addToPreviewStream?(CIImage(cvPixelBuffer: videoPixelBuffer)) if !canWrite() { return } // Extract the presentation timestamp (PTS) from the sample buffer let timestamp = CMSampleBufferGetPresentationTimeStamp(sampleBuffer) //sessionAtSourceTime is the first buffer we will write to the file if self.sessionAtSourceTime == nil { //Make sure we don't start recording until the buffer reaches the correct time (buffer is always behind, this will fix the difference in time) guard sampleBuffer.presentationTimeStamp >= self.recordFromTime! else { return } self.sessionAtSourceTime = sampleBuffer.presentationTimeStamp self.videoWriter!.startSession(atSourceTime: sampleBuffer.presentationTimeStamp) } if self.videoWriterInput!.isReadyForMoreMediaData { self.videoWriterInput!.append(sampleBuffer) self.videoTimestamps.append( Timestamp( frame: videoTimestamps.count, value: timestamp.value, timescale: timestamp.timescale ) ) let ddm = depthData.depthDataMap depthCapture.addDepthData(pixelBuffer: ddm, timestamp: timestamp) } }
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