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I managed it by casting .astype(np.float32) , and it runs! But, I have a problem: The only think it gives back is the following:

Rotation Matrix:
[[ 1.  0.  0.]
 [ 0.  1.  0.]
 [ 0.  0.  1.]]
[R|t] Matrix:
[[ 1.  0.  0.  0.]
 [ 0.  1.  0.  0.]
 [ 0.  0.  1.  0.]]
Central Point:
[[ 0.]
 [ 0.]
 [ 0.]]

This is the points I grab from the image (imgp):

[[[ 136.]
  [ 270.]]

 [[  65.]
  [ 186.]]

 [[ 140.]
  [ 198.]]

 [[ 261.]
  [ 194.]]]

And these are the World Point Coords:

 [[[ 0.22      ]
  [ 0.005     ]
  [-0.018     ]]

 [[ 0.018     ]
  [ 0.215     ]
  [ 0.01      ]]

 [[ 0.028     ]
  [-0.20999999]
  [ 0.        ]]

 [[ 0.18000001]
  [-0.01      ]
  [-0.16      ]]]

For some reason, the algorithm is doing nothing, or at least it seems. I tried to step down the reprojection error (to as low as 1) and everything stayed the same. With this error, tried to increase the number of iterations, with no results. This is how I am calling the function now:

self.rvec, self.tvec, inliers = cv2.solvePnPRansac(worldp.astype(np.float32), imgp.astype(np.float32), self.cameraMatrix.astype(np.float32), self.distCoeffs.astype(np.float32), self.rvec, self.tvec, useExtrinsicGuess=self.extrinsicGuess, iterationsCount=self.RansacIterations, reprojectionError=self.reprojectionError,flags=self.RansacMethod)

Hope you can help me!

With my best regards,

Pedro