Design notes for multi-camera + LiDAR SLAM exposure tuning, plus a
question/answer pair that verifies the notes' assumptions (gain ceiling,
lens sweet spot, blur budget, 12-bit raw capture) against the actual
MV-CS016-10UC camera and VM0420MP5 lens datasheets and the driver source.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Hikvision MV-CS016-10UC ROS2 driver used for the dual/triple camera rig:
hardware-triggered acquisition, per-camera exposure/gain/white-balance
params, and self-calibrating device-clock timestamping (anchored to the
shared LiDAR/GPS clock domain via /timeshare) to keep image timestamps
tightly synced across cameras during motion. Includes the vendored
Hikvision MVS SDK (hikSDK/) needed to build.
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