The propagation properties of coronal mass ejections (CMEs) are crucial to predict its geomagnetic effect. A newly developed three dimensional (3D) mask fitting reconstruction method using coronagraph images from three viewpoints has been described and applied to the CME ejected on August 7, 2010. The CME's 3D localisation, real shape and morphological evolution are presented. Due to its interaction with the ambient solar wind, the morphology of this CME changed significantly in the early phase of evolution. Two hours after its initiation, it was expanding almost self-similarly. CME's 3D localisation is quite helpful to link remote sensing observations to in situ measurements. The investigated CME was propagating to Venus with its flank just touching STEREO B. Its corresponding ICME in the interplanetary space shows a possible signature of a magnetic cloud with a preceding shock in VEX observations, while from STEREO B only a shock is observed. We have calculated three principle axes for the reconstructed 3D CME cloud. The orientation of the major axis is in general consistent with the orientation of a filament (polarity inversion line) observed by SDO/AIA and SDO/HMI. The flux rope axis derived by the MVA analysis from VEX indicates a radial-directed axis orientation. It might be that locally only the leg of the flux rope passed through VEX. The height and speed profiles from the Sun to Venus are obtained. We find that the CME speed possibly had been adjusted to the speed of the ambient solar wind flow after leaving COR2 field of view and before arriving Venus. A southward deflection of the CME from the source region is found from the trajectory of the CME geometric center. We attribute it to the influence of the coronal hole where the fast solar wind emanated from.