cam0=[1734.04 0 -133.21; 0 1734.04 542.27; 0 0 1]
cam1=[1734.04 0 -133.21; 0 1734.04 542.27; 0 0 1]
doffs=0
baseline=529.50
width=1920
height=1080
ndisp=190
vmin=55
vmax=160