Task: Measuring with a single calibrated camera

Write a python script/function, that measures height of an object in the image. The camera parameters are:

In [ ]:
import numpy as np
In [ ]:
K = np.array( [
            [ 2649.4768,     0.0000,  1611.4155],
            [    0.0000,  2649.4768,   936.2453],
            [    0.0000,     0.0000,     1.0000] ])

C = np.array( [ -263.4389,  -148.7411,   460.3024 ] )
R = np.array( [
    [0.166762435107263,   0.985996139504843,   0.001379535661650],
    [0.767058936399130,  -0.128854026286462,  -0.628503960210278 ],
    [-0.619524719706430,   0.105869036036574,  -0.777805161259139]] )