cam0=[1729.48 0 800.77; 0 1729.48 551.55; 0 0 1]
cam1=[1729.48 0 800.77; 0 1729.48 551.55; 0 0 1]
doffs=0
baseline=532.81
width=1920
height=1080
ndisp=180
vmin=25
vmax=158