pub fn solve_pnp(
correspondences: &[ObjectImageCorrespondence],
camera: CameraMatrix3,
) -> VisionResult<AbsolutePose>Expand description
Estimates an object-to-camera pose from at least four correspondences.
Uses calibrated DLT, or plane-aware homography initialization for planar and near-planar object geometry, followed by Gauss–Newton refinement on the SE(3) tangent space. Four points are accepted for the final refine path when an initial pose is recoverable; RANSAC minimal samples use six points.