DriveWorks SDK Reference
3.0.4260 Release
For Test and Development only

Time Sensor Sample
SW Release Applicability: This sample is available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.


The Time Sensor sample performs time synchronization with Lidar packet timestamps. The sample initializes identical Lidar sensors with and without time synchronization, and compares the output timestamps.

Running the Sample

The sample requires the driver and parameters of the Time and Lidar sensors. It accepts the following arguments:

./sample_timesensor --virtual=[true|false]


    Specify if virtual sensors should be used. If live mode, drivers `lidar.socket` and `time.nvpps` are used.
    Default value: true

    Different parameters are available for each Time driver.
    Default value: file=path/to/data/samples/sensors/time/time.bin

    Different parameters are available for each Time driver.
    Default value: file=path/to/data/samples/sensors/time/lidar_hdl32e.bin
For a full list of key/value pairs that can be passed to –time-params or –lidar-params see Sensor Enumeration Sample .


For every valid Lidar packet, the sample prints to the console data such as:

[Lidar] timestamp synced: 1499155033601862 | original: 1499155033602454
[Lidar] timestamp synced: 1499155033602415 | original: 1499155033603010
[Lidar] timestamp synced: 1499155033602968 | original: 1499155033603562
[Lidar] timestamp synced: 1499155033603521 | original: 1499155033604113
[Lidar] timestamp synced: 1499155033604074 | original: 1499155033604669
[Lidar] timestamp synced: 1499155033604627 | original: 1499155033605218