Question about Real Distance Calculation from Disparity Map

[ArmanFz]

Hello, I have a question regarding the calculation of real distance from a disparity map using the formula $D = b*f/d$

• $D$ is Distance of the point in real world
• $b$ is the baseline (the distance between my cameras)
• $f$ is the focal length of the camera
• $d$ is the disparity

Should I use centimeters or meters for these metrics? Specifically, should the baseline ($b$) and focal length ($f$) be in centimeters or meters, or does it not matter as long as they are in the same unit? Thank you!

[haofeixu]

Hi typically the focal length is expressed in pixels, and disparity is also in pixels. The unit of b*f/d is consistent with the baseline b (i.e., you get meters if you provide the baseline with unit meters).

[ArmanFz]

thank you for your response.