Can we do solvePnP on OpenMV?

Hi,
Can we do solvePnP like it in OpenCV on OpenMV? Since we can get the positions of the corners of Apriltags, can we use solvePnP to get the position and orientation of the camera?

We spit out the tag x/y/z translation from the camera along with the rotation. Please use these values to get where the camera is.