cam0=[1739.18 0 -1285.58; 0 1739.18 550.31; 0 0 1]
cam1=[1739.18 0 -1285.58; 0 1739.18 550.31; 0 0 1]
doffs=0
baseline=573.76
width=1920
height=1080
ndisp=270
vmin=120
vmax=240