Problem with UPnP

[xiahaa]

Hi, I met a problem with running UPnP for non-central absolute pose estimation.
The test data is here.
test_case.txt

I assume that I have for each point a camera, so it is a 100 multicamera system.

The problem is described as follows:
when I use gPnP, the result is correct if the points are not coplanar.
However, when I use UPnP, the result is not correct.

The results are listed here:
res.txt

Can anyone give me a help?

Thanks in advance.