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Image points are perfectly fine as floating point in Point2f. They can be anywhere in the frame, so if you have 1920x1080, you can give points from x = 0 through 1920 and y = 0 through 1080.
Are you making sure that your image points correspond to the 3d points? That is, point 0 in your 3d points should be point 0 in your image points and so forth. SolvePnP needs them in order, with matches for all of them.
