I obtained my Rotation and translation matrices using the SVD of E. I used the following code to do so :
SVD svd(E);
Matx33d W(0, -1, 0, 1, 0, 0, 0, 0, 1);
Mat_ R = svd.u * Mat(W) * svd.vt;
Mat_ t = svd.u.col(2);
Matx34d P1(R(0, 0), R(0, 1), R(0, 2), t(0), R(1, 0), R(1, 1), R(1, 2), t(1), R(2, 0), R(2, 1), R(2, 2), t(2));
I want to know what are the units of R and t ? When I calibrated the cameras I got the baseline distance in **cm** , So is the translation vector units also in **cm** ? Also what are the units of R?
P.S : I have read the following question on [Stackoverflow](https://stackoverflow.com/questions/16856177/what-will-be-the-translation-vector-unit-from-essential-matrix/16870447#16870447) , but it had actually confused me as no answer was accepted. Also I wanted to know if the translation vector I got is it in the world frame?(Is it the real world distance moved from the initial position)
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