cam0=[1742.11 0 804.90; 0 1742.11 541.22; 0 0 1]
cam1=[1742.11 0 804.90; 0 1742.11 541.22; 0 0 1]
doffs=0
baseline=221.76
width=1920
height=1080
ndisp=100
vmin=29
vmax=61