So I am trying to use openCV's solvePNP (with python) for the first time, and I am having some troubles with the inputs. I assume that the image points are just the pixel coordinates, and the object points are a 3d list of points, in the same order, in millimetres.
However, I'm not sure which units the Intrinsic Matrix and the Distortion are in. I read some references to "35mm units", as well as other places which multiply Focal Length with Resolution and divide by Sensor sizes. I'm also not sure how to calculate the distortion values. I assume I can approximate them as 0, but if I do choose to find them, what units will they be/need to be?