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with default set of parameters (flag CV_ITERATE) you need min 6 points. 4 points will work only with CV_P3P, CV_P3P flags. I am not sure why, but I got this from practical experimentation.

with default set of parameters (flag CV_ITERATE) CV_ITERATIVE) you need min 6 points. 4 points will work only with CV_P3P, V_EPNP, CV_P3P flags. I am not sure why, but I got this from practical experimentation.

with default set of parameters (flag CV_ITERATIVE) you need min 6 points. 4 points will work only with V_EPNP, CV_EPNP, CV_P3P flags. I am not sure why, but I got this from practical experimentation.