Position and Rotation of object with 4 Points (perspective view)

Question

I am so confused about this. I found many links for example this one: link

What I have:

1. A perspective view with fixed position
2. An object with 4 points (Green) and a point (Red) like these:

3. I know the size of all 5 points in all times.
4. I know the distance between all 5 points at all times.

If we assume center of screen (k) is (0,0,0) in 3D world. Is there a way to find the 3d position and rotation of "red" point?

I am not an expert but I know we can find the normal vector with 3 points (link). And also orientation of 3 points (link). And also this one with 2 points (link).