cam0=[1765.39 0 815.68; 0 1765.39 528.05; 0 0 1]
cam1=[1765.39 0 815.68; 0 1765.39 528.05; 0 0 1]
doffs=0
baseline=294.57
width=1920
height=1080
ndisp=140
vmin=20
vmax=118