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Merge branch 'humble' of github.com:luxonis/rae-ros into robothub_tes…
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Serafadam committed Nov 10, 2023
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@@ -44,17 +44,24 @@ Example launch with an argument - `ros2 launch rae_bringup bringup.launch.py ena

Every shipped rae has already been factory calibrated, so this step is rarely needed. Besides the section below, [Calibration documentation](https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/calibration/) is also a good source of information.

Within the docker image, you can execute:
With PC conecteted to RAE via SSH (RH agent use depthai_gate):

```bash
apt update
apt install neovim libgl1-mesa-glx python3-pip
git clone --branch rae-calib https://github.com/luxonis/depthai.git
robothub-ctl stop
```
On your PC:
```
git clone --branch rvc3_calibration https://github.com/luxonis/depthai.git
cd depthai/
python3 install_requirements.py
# To calibrate rae's front cameras - for back cameras we would change the board name to "RAE-D-E"
python3 calibrate.py -s <size> -db -nx <squares_X> -ny <squares_Y> -brd RAE-A-B-C -cd 1 -c 3
python3 calibrate.py -s <size> -brd RAE-A-B-C -cd 1 -c 3
```
Some tips:
1. Try to fill stereo pairs matrices (color camera preview can be out of FOV, but not the Stereo pairs)
2. Put charuco on a flat surface (bigger board it will be better)
3. When you take a frame is a better practice to freeze board (motion are not ok)


#### Some hardware notes:

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