This work is to compute and reconstruct the object pose, including position and orientation, by using single camera combined with several planned marks. The marks are mounted as planned on a rigid boy and can be captured by the camera to obtain corresponding two-dimension coordinates. The data are then used to reconstruct the pose of a rigid object. The work begins with trying three marks. The strategy to reconstruct the pose of the body is developed, and the ambiguity and limitation are analyzed. The method of using four marks is then suggested for general three-dimension pose reconstruction. If the body executes screw motion with specified axis, the reconstruction can be finished by using just two marks.