We introduce a simple but practical method to measure the optical transmission matrix (TM) of complex media. The optical TM of a complex medium is obtained by modulating the wavefront of a beam impinging on the complex medium and imaging the transmitted full-field speckle intensity patterns. Using the retrieved TM, we demonstrate the generation and linear combination of multiple foci on demand through the complex medium. This method will be used as a versatile tool for coherence control of waves through turbid media.