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Distance and angle from a point with 3 axes (4points)

Hi all, I'd like to know if something exists to find the distance and the angle between a camera and an object with 4 points visible like that : http://upload.wikimedia.org/wikipedia/commons/4/4a/Repere_3_axes.jpg I can put 4 points of colours on each axes and enter the exact distance between points. Does this system already exists ? Thanks in advance. Cyprien