There are several methods of determining frame size.
The two that I trust are 1/ Veloweb, by Randochap, and 2/ SHR. ( Seated Height Ratio ).
Veloweb's method relies on the subject to have a good idea of what the pressure of a saddle feels like, while SHR negates this requirement.
Mass produced bike manufactures have reams of information from various universities and medical studies worldwide, and have dimensioned their frames based upon an 'Adult male norm', or average man.
If you're after an Off The Peg bike, you don't need to worry about the size within 2cm. If you are midway between sizes, go for the smaller. It will be lighter and stiffer.
I have a spreadsheet from old methodologies gained from a reputable Framebuilder in Birmingham, and a draughting package on my PC to draw up a frame. I must be pretty normal because my SWorks is within millimeters of perfection.
Specialized are pretty good at publishing the frame dimensions. My SWorks is 2mm adrift in Reach and 4 mm adrift in Seat tube length ( small ). This said, it’s the most comfortable and easiest bike to ride that I've ever owned although it is so far out.
Once you've done both measurement methods and got results within ¼", you can take the frame size as 2/3 of the result.
Some folks say frame size is 1/3 of your height, but this is dodgy due to SHR variation. I have even seen frame size as being leg length minus 9". Ignore these.