Find 2D-3D correspondence of 4 non-coplanar points

Question

I have a 3-dimensional object with 4 non-coplanar feature points. Their spatial arrangement is known, i.e., there is an \"object\" coordinate system and I know the 3D coordinate

Answer 1

I think that there is not a solution to your problem. Imagine you take a picture of regular tetrahedra. Now rotate it by 120° you get the same picture but the points are different. So you need more info.