How to calculate an accuracy/error of pose detection of stereo cameras

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I need to calculate an accuracy/error of pose detection of stereo cameras.

If I know - the baseline, cameras resolution, focal length and distance to the point which is needed to be triangulated, and if also I know, that coordinates of this point is detected on each of two images with the error around 0.5 of pixel size, - which method is the best and simpliest to calculate the accuracy/error of cameras pose detection according to this point?