Using triangulate(), how to estimate reprojectionerror in milimeters?

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HT
HT on 24 Apr 2017
Using the triangulate function, i would like to estimate the reprojectionerror given in millimeteres. I would really appreciate it if someone could find the time to explain how to do it.
I know the camerasensor pixel size in 'mm', but not how to estimate the size of the pixel in the scene.

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