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Ah, this will do it. solvePnPGeneric instead of regular solvePnP.

std::vector<cv::Vec3d> rvecsVec, tvecsVec;
        solvePnPGeneric(markerObjPoints, marker.corners2d, K, D, rvecsVec, tvecsVec, false, cv::SOLVEPNP_IPPE_SQUARE);