1 # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
3 @page lidar_usecase4 Timestamp options
5 @note SW Release Applicability: This tutorial is applicable to modules in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.
7 The Lidar sensor provides several timestamp options depending on sensor type. These options can be toggled using the `output-timestamp` sensor parameter, and work by modifying the `dwLidarDecodedPacket.hostTimestamp` returned when reading a packet. The following table summarizes the timestamp options available for each supported lidar sensor. The default option is `host`.
9 Note: this parameter does not modify raw data. For more information, see @ref sensors_usecase4.
11 | Protocol | Vendor | Prerequisites | output-timestamp | Returned hostTimestamp | Returned sensorTimestamp | Notes |
12 |---------------|----------|---------------|------------------|------------------------|---------------------------------------|----------------------------------------------------------------------------------------------|
13 | lidar.socket | Velodyne | | host | DW Host | Sensor UTCTOH | |
14 | | | Time sensor | synced | DW Host | Sensor UTCTOH | @ref time_mainsection |
15 | | | | raw | Sensor UTC | Sensor UTCTOH | UTC reconstructed from host timestamp (TOH compensation). <br>Supersedes useSensorTime=true. |
16 | | Ouster | | host | DW Host | Sensor PTP | |
17 | | | | smoothed | DW Host | Sensor PTP | Supersedes time-smoothing=true. |
18 | | | | raw | Sensor PTP | Sensor PTP | Supersedes useSensorTime=true |
19 | | Luminar | | host | DW Host | Sensor PTP | |
20 | | | | smoothed | DW Host | Sensor PTP | Supersedes time-smoothing=true |
21 | | | | raw | Sensor PTP | Sensor PTP | |
22 | | Hesai | | host | DW Host | Sensor PTP | |
23 | | | | raw | Sensor PTP | Sensor PTP | |
24 | lidar.virtual | | | smoothed | DW Host | Sensor (defined by sensor type above) | Supersedes time-smoothing=true.<br>Available if supported by vendor above. |
25 | | | Time sensor | synced | Host | Sensor (defined by sensor type above) | Available if supported by vendor above. |
26 | | | | raw | Sensor | Sensor (defined by sensor type above) | Available if supported by vendor above. |