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How to obtain depth coordinate using two,widely sperated, cameras: ROS, python Baxter

Hi,

So basically I want to be able to obtain the depth,z, coordinate of a certain object. I figured since I am using two cameras, there could be some triangulation that can be done.

I also looked into the disparity map process, but my cameras are far apart, and the disparity map created is rubbish, so i need another method