双目三维测量得到的高度与实际差好多

标定部分代码：

1. binocular_calibration (X, Y, Z, RowsL, ColsL, RowsR, ColsR, StartCamParL, StartCamParR, StartPosesL, StartPosesR, 'all', CamParamL, CamParamR, NFinalPoseL, NFinalPoseR, cLPcR, Errors)

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双目矫正的代码：

1. gen_binocular_rectification_map (MapL, MapR, CamParamL, CamParamR, cLPcR, 1, 'geometric', 'bilinear', RectCamParL, RectCamParR, CamPoseRectL, CamPoseRectR, RectLPosRectR)

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读取矫正后的标定图，提取圆心坐标，并求得三维坐标：

1. read_image (ImageMapped1, ImgPath + 'L_rec1')
   
2. read_image (ImageMapped2, ImgPath + 'R_rec1')
   
3. dev_set_window (WindowHandle1)
   
4. dev_display (ImageMapped1)
   
5. dev_set_window (WindowHandle2)
   
6. dev_display (ImageMapped2)
   
7. find_caltab (ImageMapped1, CaltabL_rec, 'caltab_0.6.descr', 3, 112, 5)
   
8. find_marks_and_pose (ImageMapped1, CaltabL_rec, 'caltab_0.6.descr', RectCamParL, 128, 10, 18, 0.9, 15, 100, RCoordL_rec, CCoordL_rec, StartPose1)
   
9. disp_caltab (WindowHandle1, CaltabFile, RectCamParL, StartPose1, 1)
   
10. 
    
11. find_caltab (ImageMapped2, CaltabR_rec, 'caltab_0.6.descr', 3, 112, 5)
    
12. find_marks_and_pose (ImageMapped2, CaltabR_rec, 'caltab_0.6.descr', RectCamParR, 128, 10, 18, 0.9, 15, 100, RCoordR_rec, CCoordR_rec, StartPose2)
    
13. disp_caltab (WindowHandle2, CaltabFile, RectCamParR,StartPose2 , 1)
    
14. *stop()
    
15. Disparity := CCoordR_rec - CCoordL_rec
    
16. disparity_to_distance (RectCamParL, RectCamParR, RectLPosRectR, Disparity, Distance)
    
17. disparity_to_point_3d (RectCamParL, RectCamParR, RectLPosRectR, RCoordL_rec, CCoordL_rec, Disparity, X, Y, Z)
    
18. pose_to_hom_mat3d (CamPoseRectL, c1Trect1)
    
19. affine_trans_point_3d (c1Trect1, X, Y, Z, c1X, c1Y, c1Z)

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标定误差为0.1pixl，矫正误差也是0.1，得到的c1Z数值与真实距离查了十几厘米.
这里的X, Y, Z, c1X, c1Y, c1Z 单位是m吗？

是m，注意单位换算