Is it possible to get the real coordinates of the dino?

[CozmoxJC]

Since the result of the 3D reconstructed points of dino with essential matrix seems unlikely the real world coordinates, and the steps include assuming P1 = [I 0], I wonder is it possible to get the real coordinates by the code provided here? If not, what else do I require to reconstruct the accurate world coordinates by two images or even more(through sfm)?