laplace_zp syntax is  laplace_zp(input, {-z1,0,-z2,0}{-p1,0,-p2,0}) for a transfer function ((1+s/z1)(1+s/z2))/((1+s/p1)(1+s/p2)) where p1,p2,z1,z2 are real poles and zeros. You can get more information from LRM or a basic text book.

However, if you are trying to implement a filter response based on poles and Q-factor values, then wouldn't it be easy to use laplace_nd on the transfer function?

For instance, assume you have a biquad filter that is given by the TF  w^2/(s^2+ s(w/Q)+w^2), w is the pole location(freq) and Q is the Q-factor. Use laplace_nd directly on this function.

I guess what I am trying to say is, depends on what you want to do! Hope this helps.