public Matrix LocateExtrinsics(PointF[] worldVertices, PointF[] imagePoints)
{
var worldPoints = worldVertices.ToArrayOf(v => new MCvPoint3D32f(v.X, v.Y, 0));
return CameraCalibration.FindExtrinsicCameraParams2(worldPoints, imagePoints, Lens).ToViewMatrix() * FlipYZ;
}