Note: SW Release Applicability: This tutorial is applicable to modules in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

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.

Note: this parameter does not modify raw data. For more information, see Sensor Timestamping.

Protocol	Vendor	Prerequisites	output-timestamp	Returned hostTimestamp	Returned sensorTimestamp	Notes
lidar.socket	Velodyne		host	DW Host	Sensor UTCTOH
		Time sensor	synced	DW Host	Sensor UTCTOH	Time
			raw	Sensor UTC	Sensor UTCTOH	UTC reconstructed from host timestamp (TOH compensation). Supersedes useSensorTime=true.
	Ouster		host	DW Host	Sensor PTP
			smoothed	DW Host	Sensor PTP	Supersedes time-smoothing=true.
			raw	Sensor PTP	Sensor PTP	Supersedes useSensorTime=true
	Luminar		host	DW Host	Sensor PTP
			smoothed	DW Host	Sensor PTP	Supersedes time-smoothing=true
			raw	Sensor PTP	Sensor PTP
	Hesai		host	DW Host	Sensor PTP
			raw	Sensor PTP	Sensor PTP
lidar.virtual			smoothed	DW Host	Sensor (defined by sensor type above)	Supersedes time-smoothing=true. Available if supported by vendor above.
		Time sensor	synced	Host	Sensor (defined by sensor type above)	Available if supported by vendor above.
			raw	Sensor	Sensor (defined by sensor type above)	Available if supported by vendor above.