Synchronized images and P(0,3) filled

[pavloblindnology]

Hi.
Is there any idea how to make images coming from this plugin synchronized?
AFAIU, MultiCameraSensor should be used for synchronized cameras creation, but it doesn't support depth sensor.
Which leaves me with no ideas.

Another useful feature is to fill P(0,3) projection matrix element which holds info about stereo baseline, as it's done for standard Camera plugin.