- Note
- 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
lidarParams.
parameters =
"ip=192.168.3.43,port=2368,device=VELO_HDL64E,scan-frequency=10.0";
timeParams.
parameters =
"nvpps-device=/dev/nvpps0,reference-type=NOVATEL_CAN,can-device=can0";
while(loop) {
}
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