cam0=[1761.76 0 1034.05; 0 1761.76 544.11; 0 0 1]
cam1=[1761.76 0 1034.05; 0 1761.76 544.11; 0 0 1]
doffs=0
baseline=41.51
width=1920
height=1080
ndisp=170
vmin=25
vmax=144