cam0=[1758.23 0 955.43; 0 1758.23 552.26; 0 0 1]
cam1=[1758.23 0 955.43; 0 1758.23 552.26; 0 0 1]
doffs=0
baseline=56.46
width=1920
height=1080
ndisp=160
vmin=35
vmax=137