当对象坐标系中所有3个坐标都可以变化时，寻找三维坐标

I have the 3D coordinates of 4 coplanar points of my target in the object coordinate system.I also have their the 2D coordinates in every frame of a video.I have also calculated the intrinsic parameters (M) for the camera, the R (rotation) and t (translation) matrices between the object coordinate system and the camera coordinate system using solvepnp(). I have read I have the 3D coordinates of 4 coplanar points