cam0=[1733.74 0 792.27; 0 1733.74 541.89; 0 0 1]
cam1=[1733.74 0 792.27; 0 1733.74 541.89; 0 0 1]
doffs=0
baseline=536.62
width=1920
height=1080
ndisp=170
vmin=55
vmax=142