Time Sensor Sample

Table of Contents

• Description
• Running the Sample
• Output

Description

The Time Sensor sample performs time synchronization with Lidar packet timestamps. The sample initializes multiple virtual Lidar sensors with different timestamp options in order to compare host, time synchronized, and raw sensor timestamps.

Running the Sample

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

./sample_timesensor --time-params=[comma/separated/key/value/pairs]
                    --lidar-params=[comma/separated/key/value/pairs]

Where:

--time-params=[comma/separated/key/value/pairs]
    Different parameters are available for each Time driver.
    Default value: file=path/to/data/samples/sensors/time/time.bin

--lidar-params=[comma/separated/key/value/pairs]
    Different parameters are available for each Time driver.
    Default value: file=path/to/data/samples/sensors/time/lidar_hdl32e.bin

Note

For a full list of key/value pairs that can be passed to –time-params or –lidar-params see Sensor Enumeration Sample .

For more information about timestamp options see Sensor Timestamping .

Output

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

[Lidar] timestamp synced: 1499155033600203 | original: 1499155033600797 | raw: 1499155205168587
[Lidar] timestamp synced: 1499155033600756 | original: 1499155033601349 | raw: 1499155205169140
[Lidar] timestamp synced: 1499155033601309 | original: 1499155033601902 | raw: 1499155205169693
[Lidar] timestamp synced: 1499155033601862 | original: 1499155033602454 | raw: 1499155205170246
[Lidar] timestamp synced: 1499155033602415 | original: 1499155033603010 | raw: 1499155205170799
[Lidar] timestamp synced: 1499155033602968 | original: 1499155033603562 | raw: 1499155205171352
[Lidar] timestamp synced: 1499155033603521 | original: 1499155033604113 | raw: 1499155205171905
[Lidar] timestamp synced: 1499155033604074 | original: 1499155033604669 | raw: 1499155205172458
[Lidar] timestamp synced: 1499155033604627 | original: 1499155033605218 | raw: 1499155205173011