Select the img params by resolution

tools/writer/config/img.params

@@ -1,6 +1,6 @@
 %YAML:1.0
 ---
-in_left:
+in_left_map:
    -
       width: 640
       height: 400
@@ -11,7 +11,17 @@ in_left:
       model: 0
       coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
           2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
-in_right:
+   -
+      width: 1280
+      height: 800
+      fx: 1.9739641213416058e+02
+      fy: 1.9772337597617189e+02
+      cx: 3.2611983633916327e+02
+      cy: 1.9986969132833946e+02
+      model: 0
+      coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
+          2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
+in_right_map:
    -
       width: 640
       height: 400
@@ -22,6 +32,16 @@ in_right:
       model: 0
       coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
           3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
+   -
+      width: 1280
+      height: 800
+      fx: 2.0335498653655989e+02
+      fy: 2.0453858622699008e+02
+      cx: 3.1589962248180814e+02
+      cy: 2.1871688038954812e+02
+      model: 0
+      coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
+          3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
 ex_left_to_right:
    rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
        -4.3917309443490191e-03, 1.8166060642710027e-03,