cam0=[1740.10 0 549.68; 0 1740.10 543.08; 0 0 1]
cam1=[1740.10 0 549.68; 0 1740.10 543.08; 0 0 1]
doffs=0
baseline=387.86
width=1920
height=1080
ndisp=130
vmin=52
vmax=102