3D points estimation, monocular view

Hello everyone, I'm new here, I want to ask a question about computer vision.

I'm doing a university project, and as a step of this project I need to estimate a point in 3d from an image. The images are taken from a video of a car passing in front of a camera, I know the calibration Matrix and I know the width of the wheel, I also have already extracted All the points in 2d points on the borders …

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