diff --git a/cmvr-es/devices/camera/common/include/camera_stream_encoder.h b/cmvr-es/devices/camera/common/include/camera_stream_encoder.h
index 15c4ffa8..32390ddb 100644
--- a/cmvr-es/devices/camera/common/include/camera_stream_encoder.h
+++ b/cmvr-es/devices/camera/common/include/camera_stream_encoder.h
@@ -47,7 +47,8 @@ public:
     static bool encode(std::shared_ptr<FfmpegEncoderInfo>& encoder,
                        const AVFrame* frame,
                        std::vector<uint8_t>& encoded_frame,
-                       bool& is_key);
+                       bool& is_key,
+                       const CameraStreamEncodeOptions& options = {});
 };
 
 } // namespace cmvr::device
diff --git a/cmvr-es/devices/camera/common/src/camera_stream_encoder.cpp b/cmvr-es/devices/camera/common/src/camera_stream_encoder.cpp
index 700dc9d4..f9ef2f76 100644
--- a/cmvr-es/devices/camera/common/src/camera_stream_encoder.cpp
+++ b/cmvr-es/devices/camera/common/src/camera_stream_encoder.cpp
@@ -337,7 +337,8 @@ bool CameraStreamEncoder::encode(std::shared_ptr<FfmpegEncoderInfo>& encoder,
 bool CameraStreamEncoder::encode(std::shared_ptr<FfmpegEncoderInfo>& encoder,
                                  const AVFrame* frame,
                                  std::vector<uint8_t>& encoded_frame,
-                                 bool& is_key)
+                                 bool& is_key,
+                                 const CameraStreamEncodeOptions& options)
 {
     encoded_frame.clear();
     is_key = false;
@@ -426,6 +427,28 @@ bool CameraStreamEncoder::encode(std::shared_ptr<FfmpegEncoderInfo>& encoder,
         return false;
     }
 
+    if (options.draw_timestamp) {
+        const auto output_format = static_cast<AVPixelFormat>(encoder->frame->format);
+        if (output_format != AV_PIX_FMT_NV12 && output_format != AV_PIX_FMT_YUV420P) {
+            const char* format_name = av_get_pix_fmt_name(output_format);
+            CMVR_LOG(ERROR) << "[CameraStreamEncoder] cannot draw timestamp on pixel format "
+                            << (format_name ? format_name : "unknown");
+            return false;
+        }
+        if (!encoder->frame->data[0]
+            || encoder->frame->linesize[0] < encoder->frame->width) {
+            CMVR_LOG(ERROR) << "[CameraStreamEncoder] invalid luma plane for timestamp";
+            return false;
+        }
+        cv::Mat luma_plane(
+            encoder->frame->height,
+            encoder->frame->width,
+            CV_8UC1,
+            encoder->frame->data[0],
+            static_cast<size_t>(encoder->frame->linesize[0]));
+        drawTimeStamp(luma_plane);
+    }
+
     return encodePreparedFrame(*encoder, encoded_frame, is_key);
 }
 
diff --git a/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp b/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp
index 75b2d1ca..2105d234 100644
--- a/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp
+++ b/cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp
@@ -1055,33 +1055,15 @@ void UVCCamera::streaming_worker_() {
             // 以下为编码部分，用于流模式
             StreamFrameData frame_data;
             // 保存图像数据
-            cv::Mat bgr_to_encode;
             const auto copy_end_time = std::chrono::steady_clock::now();
 
             // rgb图像编码
-            if (enable_stream_timestamp_) {
-                success = convert_capture_frame_to_bgr_(frame, bgr_to_encode);
-                if (success && encode_width_ > 0 && encode_height_ > 0 &&
-                    (bgr_to_encode.cols != encode_width_ || bgr_to_encode.rows != encode_height_)) {
-                    cv::resize(bgr_to_encode,
-                               bgr_to_encode,
-                               cv::Size(encode_width_, encode_height_),
-                               0.0,
-                               0.0,
-                               cv::INTER_LINEAR);
-                }
-            }
             const auto resize_end_time = std::chrono::steady_clock::now();
 
-            if (enable_stream_timestamp_) {
-                CameraStreamEncodeOptions encode_options;
-                encode_options.draw_timestamp = true;
-                success = success && CameraStreamEncoder::encode(
-                    rgbEncoder_, bgr_to_encode, frame_data.rgbFrame, frame_data.bKey, encode_options);
-            } else {
-                success = CameraStreamEncoder::encode(
-                    rgbEncoder_, frame, frame_data.rgbFrame, frame_data.bKey);
-            }
+            CameraStreamEncodeOptions encode_options;
+            encode_options.draw_timestamp = enable_stream_timestamp_;
+            success = CameraStreamEncoder::encode(
+                rgbEncoder_, frame, frame_data.rgbFrame, frame_data.bKey, encode_options);
             const auto encode_end_time = std::chrono::steady_clock::now();
 
             if (success) {