diff --git a/ffmpeg/decoder.h b/ffmpeg/decoder.h
index 2c0d106689..70e8fbb51c 100755
--- a/ffmpeg/decoder.h
+++ b/ffmpeg/decoder.h
@@ -55,6 +55,9 @@ struct input_ctx {
   // In HW transcoding, demuxer is opened once and used,
   // so it is necessary to check whether the input pixel format does not change in the middle.
   enum AVPixelFormat last_format;
+
+  // per-segment tracking (reset for each segment)
+  int64_t segment_last_pts;        // best-effort pts of most recent decoded video frame
 };
 
 // Exported methods
diff --git a/ffmpeg/ffmpeg_test.go b/ffmpeg/ffmpeg_test.go
index f39d1f56fb..699a0239c5 100644
--- a/ffmpeg/ffmpeg_test.go
+++ b/ffmpeg/ffmpeg_test.go
@@ -2504,8 +2504,8 @@ func TestTranscoder_LargeOutputs(t *testing.T) {
 	close(closeCh)
 	assert.Nil(err)
 	assert.Equal(120, res.Decoded.Frames)
-	assert.Equal(116, res.Encoded[0].Frames) // ffmpeg probably drops missing timestamp frames
-	assert.Equal(56, res.Encoded[1].Frames)
+	assert.Equal(120, res.Encoded[0].Frames)
+	assert.Equal(60, res.Encoded[1].Frames)
 	cmd := `
 		# check input properties to ensure they still have the weird timestamps
 		ffprobe -of csv -hide_banner -show_entries frame=pts_time,pkt_dts_time,media_type,pict_type $1/../data/missing-dts.ts 2>&1 | grep video > input.out
@@ -2642,25 +2642,26 @@ func TestTranscoder_LargeOutputs(t *testing.T) {
 		cat <<- 'EOF2' > expected-output.out
 			frame,video,25994.033333,25994.033333,I,
 			frame,video,25994.066667,25994.066667,P
-			frame,video,25994.100000,25994.100000,B
-			frame,video,25994.133333,25994.133333,P
+			frame,video,25994.100000,25994.100000,P
+			frame,video,25994.133333,25994.133333,B
 			frame,video,25994.166667,25994.166667,B
 			frame,video,25994.200000,25994.200000,B
-			frame,video,25994.233333,25994.233333,B
-			frame,video,25994.266667,25994.266667,P
+			frame,video,25994.233333,25994.233333,P
+			frame,video,25994.266667,25994.266667,B
 			frame,video,25994.300000,25994.300000,B
-			frame,video,25994.333333,25994.333333,P
-			frame,video,25994.366667,25994.366667,B
+			frame,video,25994.333333,25994.333333,B
+			frame,video,25994.366667,25994.366667,P
 			frame,video,25994.400000,25994.400000,B
 			frame,video,25994.433333,25994.433333,B
-			frame,video,25994.466667,25994.466667,P
-			frame,video,25994.500000,25994.500000,B
+			frame,video,25994.466667,25994.466667,B
+			frame,video,25994.500000,25994.500000,P
 			frame,video,25994.533333,25994.533333,B
 			frame,video,25994.566667,25994.566667,B
-			frame,video,25994.600000,25994.600000,P
-			frame,video,25994.666667,25994.666667,P,
-			frame,video,25994.700000,25994.700000,B,
-			frame,video,25994.733333,25994.733333,B,
+			frame,video,25994.600000,25994.600000,B
+			frame,video,25994.633333,25994.633333,P,
+			frame,video,25994.666667,25994.666667,B,
+			frame,video,25994.700000,25994.700000,P,
+			frame,video,25994.733333,25994.733333,P,
 			frame,video,25994.766667,25994.766667,B,
 			frame,video,25994.800000,25994.800000,P,
 			frame,video,25994.833333,25994.833333,B,
@@ -2669,32 +2670,35 @@ func TestTranscoder_LargeOutputs(t *testing.T) {
 			frame,video,25994.933333,25994.933333,P,
 			frame,video,25994.966667,25994.966667,B,
 			frame,video,25995.000000,25995.000000,P,
-			frame,video,25995.033333,25995.033333,B,
-			frame,video,25995.066667,25995.066667,B,
+			frame,video,25995.033333,25995.033333,P,
+			frame,video,25995.066667,25995.066667,P,
+			frame,video,25995.100000,25995.100000,P,
 			frame,video,25995.133333,25995.133333,B,
 			frame,video,25995.166667,25995.166667,P,
 			frame,video,25995.200000,25995.200000,B,
+			frame,video,25995.233333,25995.233333,B,
 			frame,video,25995.266667,25995.266667,B,
-			frame,video,25995.300000,25995.300000,B,
-			frame,video,25995.333333,25995.333333,P,
+			frame,video,25995.300000,25995.300000,P,
+			frame,video,25995.333333,25995.333333,B,
 			frame,video,25995.366667,25995.366667,B,
 			frame,video,25995.400000,25995.400000,B,
-			frame,video,25995.433333,25995.433333,B,
-			frame,video,25995.466667,25995.466667,P,
+			frame,video,25995.433333,25995.433333,P,
+			frame,video,25995.466667,25995.466667,B,
 			frame,video,25995.500000,25995.500000,B,
 			frame,video,25995.533333,25995.533333,B,
-			frame,video,25995.566667,25995.566667,B,
-			frame,video,25995.600000,25995.600000,P,
+			frame,video,25995.566667,25995.566667,P,
+			frame,video,25995.600000,25995.600000,B,
 			frame,video,25995.633333,25995.633333,B,
 			frame,video,25995.666667,25995.666667,B,
+			frame,video,25995.700000,25995.700000,P,
 			frame,video,25995.733333,25995.733333,B,
-			frame,video,25995.766667,25995.766667,P,
+			frame,video,25995.766667,25995.766667,B,
 			frame,video,25995.800000,25995.800000,B,
-			frame,video,25995.833333,25995.833333,B,
+			frame,video,25995.833333,25995.833333,P,
 			frame,video,25995.866667,25995.866667,B,
-			frame,video,25995.900000,25995.900000,P,
+			frame,video,25995.900000,25995.900000,B,
 			frame,video,25995.933333,25995.933333,B,
-			frame,video,25995.966667,N/A,B,
+			frame,video,25995.966667,N/A,P,
 			frame,video,25996.000000,N/A,P,
 		EOF2
 		diff -u expected-output.out output.out
diff --git a/ffmpeg/filter.c b/ffmpeg/filter.c
index bb0cf93f4a..d9452c6db0 100644
--- a/ffmpeg/filter.c
+++ b/ffmpeg/filter.c
@@ -334,7 +334,28 @@ int filtergraph_write(AVFrame *inf, struct input_ctx *ictx, struct output_ctx *o
   // Timestamp handling code
   AVStream *vst = ictx->ic->streams[ictx->vi];
   if (inf) { // Non-Flush Frame
-    inf->opaque = (void *) inf->pts; // Store original PTS for calc later
+    if (is_video) {
+      int64_t pts = inf->pts;
+      if (pts == AV_NOPTS_VALUE) {
+        av_log(NULL, AV_LOG_WARNING, "Filter frame pts is AV_NOPTS_VALUE. Falling back to best_effort_timestamp\n");
+        pts = inf->best_effort_timestamp;
+      }
+      if (pts == AV_NOPTS_VALUE && ictx->segment_last_pts != AV_NOPTS_VALUE) {
+        av_log(NULL, AV_LOG_WARNING, "Filter frame pts is still AV_NOPTS_VALUE. Falling back to segment_last_pts + step\n");
+        int64_t step = inf->duration;
+        if (!step && vst->r_frame_rate.den){
+          step = av_rescale_q(1, av_inv_q(vst->r_frame_rate), vst->time_base);
+        }
+        if (step){
+          pts = ictx->segment_last_pts + step;
+        }
+      }
+      inf->pts = pts;
+    }
+    inf->opaque = (void *) inf->pts;
+    if (inf->pts == AV_NOPTS_VALUE) {
+      av_log(NULL, AV_LOG_ERROR, "Filter frame pts remains AV_NOPTS_VALUE\n");
+    }
     if (is_video && octx->fps.den) {
       // Custom PTS set when FPS filter is used
       int64_t ts_step = inf->pts - filter->prev_frame_pts;
diff --git a/ffmpeg/transcoder.c b/ffmpeg/transcoder.c
index 8942f093e6..7d0231863a 100755
--- a/ffmpeg/transcoder.c
+++ b/ffmpeg/transcoder.c
@@ -326,6 +326,8 @@ int transcode(struct transcode_thread *h,
   int nb_outputs = h->nb_outputs;
   int outputs_ready = 0, hit_eof = 0;
 
+  ictx->segment_last_pts = AV_NOPTS_VALUE;
+
   ipkt = av_packet_alloc();
   if (!ipkt) LPMS_ERR(transcode_cleanup, "Unable to allocated packet");
   dframe = av_frame_alloc();
@@ -426,7 +428,17 @@ int transcode(struct transcode_thread *h,
       decoded_results->frames += dframe->width && dframe->height;
       decoded_results->pixels += dframe->width * dframe->height;
       has_frame = has_frame && dframe->width && dframe->height;
-      if (has_frame) last_frame = ictx->last_frame_v;
+      if (has_frame) {
+        last_frame = ictx->last_frame_v;
+        int64_t pts = dframe->pts;
+        // Try best effort timestamp if pts is not available
+        if (pts == AV_NOPTS_VALUE) pts = dframe->best_effort_timestamp;
+        // If best effort timestamp is not available, try to use segment last pts + duration
+        if (pts == AV_NOPTS_VALUE && ictx->segment_last_pts != AV_NOPTS_VALUE && dframe->duration)
+          pts = ictx->segment_last_pts + dframe->duration;
+        // Only update segment last pts if pts is valid
+        if (pts != AV_NOPTS_VALUE) ictx->segment_last_pts = pts;
+      }
     } else if (AVMEDIA_TYPE_AUDIO == ist->codecpar->codec_type) {
       has_frame = has_frame && dframe->nb_samples;
       if (has_frame) last_frame = ictx->last_frame_a;