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I am encoding an image sequence as mp4/h264 using ffmpeg. I notice that when I use -r 24, the playback "jumps forward" every second, as if the motion prediction or key frame calculation had gone wrong. In contrast, using -r 25 produces a smooth playback.

This happens both on a desktop computer (Debian) with a TFT that runs at 60 Hz, in VLC and the Gnome integrated desktop video player, as well as when running through omxplayer on a Raspberry Pi.

Any ways to fix it?

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FFmpeg assumes a framerate of 25 for image sequences unless you override it.

So your command should start

ffmpeg -framerate 24 -i img%d.jpg...

Don't put -r before -i.

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