Module pose 

3D Pose Estimation (PnP). 3D Pose Estimation (PnP) for fiducial markers.

This module recovers the 6-DOF transformation between the camera and the tag. It supports:

• Fast Mode (IPPE): Infinitesimal Plane-Based Pose Estimation for low latency.
• Accurate Mode (Weighted LM): Iterative refinement weighted by sub-pixel uncertainty.

Structs

CameraIntrinsics

Camera intrinsics parameters.

Pose

A 3D pose representing rotation and translation.

Functions

estimate_tag_pose

Estimate pose from tag detection using homography decomposition and refinement.

estimate_tag_pose_with_config

Estimate pose with explicit configuration for tuning parameters.

refine_poses_soa

Refine poses for all valid candidates in the batch using the Structure of Arrays (SoA) layout.

refine_poses_soa_with_config

Refine poses for all valid candidates with explicit config for tuning parameters.