DriveWorks SDK Reference
3.0.4260 Release
For Test and Development only

Get Time Synchronized Data
SW Release Applicability: This tutorial is applicable to modules in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

Get time synchronized lidar packets from live lidar sensor

dwSAL_initialize(&sal, sdk);
dwSensorParams lidarParams;
lidarParams.parameters = "ip=,port=2368,device=VELO_HDL64E,scan-frequency=10.0";
lidarParams.protocol = "lidar.socket";
dwSAL_createSensor(&lidarSensor, lidarParams, sal);
dwSensorParams timeParams;
timeParams.parameters = "nvpps-device=/dev/nvpps0,reference-type=NOVATEL_CAN,can-device=can0";
timeParams.protocol = "time.nvpps";
dwSAL_createSensor(&timeSensor, timeParams, sal);
while(loop) {
// CODE: use the time synchronized lidar packets for other tasks

This can also be done with sensor recordings. For example, we can modify the example above with the following parameters to reference recorded data.

lidarParams.parameters = "file=lidar_recording.bin";
lidarParams.protocol = "lidar.virtual";
timeParams.parameters = "file=time_recording.bin";
timeParams.protocol = "time.virtual";

For more details see Time Sensor Sample