# 3D Reconstruction upto real scale

I am working on a project to detect the 3D location of the object. I have two cameras set up at two corners of the room and I have obtained the Fundamental matrix between them. These cameras are internally calibrated. My images are 2592 X 1944

K = [1228 0 3267 0 1221 538 0 0 1 ]

F = [-1.098e-7 3.50715e-7 -0.000313 2.312e-7 2.72256e-7 4.629e-5 0.000234 -0.00129250 1 ]

Now, How do I proceed so that given a 3D point in space, I should be able to get points on the image which correspond to the same object in the room. If I can obtain the right projection matrices (with correct scale) I can use them later as inputs to OpenCV's traingulatePoints function to obtain the location of the object.

I have been stuck at this since a long time. So, please help me.

Thanks.