cam0=[1734.16 0 333.49; 0 1734.16 958.05; 0 0 1]
cam1=[1734.16 0 333.49; 0 1734.16 958.05; 0 0 1]
doffs=0
baseline=228.38
width=1920
height=1080
ndisp=110
vmin=27
vmax=85