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As far as I know, it all depends on which unit's are used for the parameters. If the camera matrix and input data all has measurements in mm's, then the output will also be in mm's. If the parameters are defined in inches, than the output will also be in inches, same for pixels.
However, in image processing, mostly people define their distances in pixels, because that is the measure used to loop through your data, pixel by pixel. So I would stick to that.
