pub fn solve_pnp_ransac(
correspondences: &[ObjectImageCorrespondence],
camera: CameraMatrix3,
options: RobustEstimationOptions,
) -> VisionResult<GeometricEstimate<AbsolutePose>>Expand description
Robust PnP using deterministic six-point RANSAC and optional inlier refinement.
Refinement preserves the selected hypothesis on failure or when its consensus is worse. More inliers win; equal counts require a lower inlier residual sum.