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I am still trying to figure out a proper way to use solvePnP(). Can someone tell me what if input 3D coordinates for solvePnP() is not regular distributed, will the returned pose estimation still accurate? The experiment I did is assigning 3D coordinates to randomly distributed feature points on a poster and take a sequence of pictures while I move straight toward the poster. The resulted camera's XYZ coordinates are a bit jumpy. For the record, I did conduct the following operations to derive camera pose. Mat R; Rodrigues(rvec, R); R = R.t(); tvec = -R*tvec; By the way, the 3D coordinates values that I assigned are a bit high. Some values are range over couple thousand while some are couple hundreds.