cam0=[1758.23 0 947.17; 0 1758.23 552.44; 0 0 1]
cam1=[1758.23 0 947.17; 0 1758.23 552.44; 0 0 1]
doffs=0
baseline=78.28
width=1920
height=1080
ndisp=170
vmin=50
vmax=144