[ros-users] Bumblebe XB3 Question about 3 image rectification

[John Browning]

Just curious if anyone has done a 3 image rectification using all the
cameras? Its not a bandwidth problem as all 3 camera views are present in
the stream its just that one of them is thrown away depending on narrow or
wide baseline settings. I would like to be able to do disparity on the
narrow baseline and maybe once per sec grab the wide without interfering
with the narrow.  Which brings up another problem. How do you set up the TF
if using the narrow field which is the left 2 cameras (i think) which would
have the cameras offset to the left by 6cm from the center of rotation. the
wide field point cloud would work fine since it would be centered. Would the
tf be set up as 2 separate stereo camera systems?
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