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I am new to OpenCV and try to use solvePnP to compute camera pose from knowns 3D points. I am quite confuse about the second parameter, imagePoints, of this function. Should it by integer? According to the definition, imagePoints are the pixel coordinate of query image. However, when I use ORB method to detect feature points, I notice that 2/3 of generated feature points have floating values of 2D points. I am not sure if this is the reason that I can not get correct answer of camera pose? Furthermore, should the value of imagePoints argument be normalized with image size before passing to solvePnP? Can someone please help me solve the puzzle. Thanks,