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I'm motion tracking a video of which I know the exact 3D coordinate of each tracked point. I have a 3D replica of the scene and want the camera to align with this scene. Is there a (semi-)automated way of aligning the motion tracked points to existing geometry?

So far I have not been able to find someone that faces the same challenge. Currently, the only two solutions I can think of is either manually doing it or writing a script that attempts to align 3 vertices to 3 other vertices.

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