cam0=[1742.17 0 16.89; 0 1742.17 536.55; 0 0 1]
cam1=[1742.17 0 16.89; 0 1742.17 536.55; 0 0 1]
doffs=0
baseline=237.66
width=1920
height=1080
ndisp=100
vmin=30
vmax=76