cam0=[1769.02 0 1271.89; 0 1769.02 527.17; 0 0 1]
cam1=[1769.02 0 1271.89; 0 1769.02 527.17; 0 0 1]
doffs=0
baseline=295.44
width=1920
height=1080
ndisp=140
vmin=25
vmax=118