Implementing Perspective-n-Point in monocular depth estimation

[ChaitanyaLangde]

Hey, I've been looking around for implementing pnp once I get the keypoints of the cones, but I am not able to figure out how I can get the object points, given that I have the image points (essentially the keypoint coordinates) and the camera properties of zed 2i. Could someone help me out with how I should proceed further or how it was implemented as given in the documentation of this repository? Any sort of help would be appreciated Thanks!