cam0=[1758.23 0 983.77; 0 1758.23 552.26; 0 0 1]
cam1=[1758.23 0 983.77; 0 1758.23 552.26; 0 0 1]
doffs=0
baseline=87.85
width=1920
height=1080
ndisp=200
vmin=57
vmax=175