Calculation 4x4 matrix of camera

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Hi everyone!

I have World Frame. I have diodes and I know coordinates of them (X,Y,Z) in this World Frame. I have camera, which takes pictures. I need to calculate matrix 4x4 of camera in World Frame.

Which function of OpenCV should I use? How many diodes do I need?

I need full matrix 4x4 (X,Y,Z + RotMatrix 3x3).