private void TestOpenCV(Vector3[] objectPointsUnityVector3, Vector2[] imagePointsUnityVector2)
{
    // convert Vector3[] into MCvPoint3D32f[] and Vector2[] into PointF[]
    var objectPoints = new Emgu.CV.Structure.MCvPoint3D32f[4];
    var imagePoints = new System.Drawing.PointF[4];

    for (int i = 0; i < objectPointsUnityVector3.Length; i++)
    {
        objectPoints[i] = new Emgu.CV.Structure.MCvPoint3D32f(objectPointsUnityVector3[i].x, objectPointsUnityVector3[i].y, objectPointsUnityVector3[i].z);
        imagePoints[i] = new System.Drawing.PointF(imagePointsUnityVector2[i].x, imagePointsUnityVector2[i].y);
    }

    /* For SolvePnPRansac
    // create vertors of points
    var objectPointsRansac = new Emgu.CV.Util.VectorOfPoint3D32F(objectPoints);
    var imagePointsRansac = new Emgu.CV.Util.VectorOfPointF(imagePoints);
    //*/

    // try to get the Camera matrix into a valid format?
    // THIS IS WHERE I NEED HELP
    /*/ Tried using the projection matrix values, the focal length, etc
    var cameraProjectionMatrix = _mainCamera.projectionMatrix;
    _mainCamera.usePhysicalProperties = true;
    var focalLength = _mainCamera.focalLength;
    //*/

    var fx = Screen.width;
    var cx = 0f;
    var fy = Screen.height;
    var cy = 0f;
    var cameraMatrix = new Emgu.CV.Matrix<float>(new float[3, 3] {
        {fx,0,cx},
        {0,fy,cy},
        {0,0,1}
        });

    IInputArray distortionCoeffs = new Emgu.CV.Util.VectorOfFloat(new float[4] { 0f, 0f, 0f, 0f });

    // define valid output variables?
    var rvec = new Emgu.CV.Util.VectorOfFloat();
    var tvec = new Emgu.CV.Util.VectorOfFloat();

    /*/
    Debug.Log("everything works up to here");
    return;
    //*/

    try
    {
        /* RANSAC made the editor crash
        var iterations = 10;
        var reprojectionError = 1f;
        var confident = 0.1f;
        var inliers = new Emgu.CV.Util.VectorOfInt(); // i guess this is a reference that will get filled?

        CvInvoke.SolvePnPRansac(objectPointsRansac, imagePointsRansac, cameraMatrix, distortionCoeffs, rvec, tvec,false, iterations, reprojectionError, confident, inliers, Emgu.CV.CvEnum.SolvePnpMethod.Iterative); //.EPnP);
        //*/

        CvInvoke.SolvePnP(objectPoints, imagePoints, cameraMatrix, distortionCoeffs, rvec, tvec);

        var translation = new Vector3(tvec[0], -tvec[1], tvec[2]);
        var rotation = new Vector3(-rvec[0], rvec[1], rvec[2]) * Mathf.Rad2Deg;

        Debug.Log(translation.ToString() + "  " + rotation.ToString());

        _mainCamera.transform.position = Vector3.zero;
        _mainCamera.transform.rotation = Quaternion.identity;
        _transformToPosition.rotation = Quaternion.Euler(rotation);
        _transformToPosition.position = translation;
    }
    catch (System.Exception e)
    {
        Debug.Log("exception: " + e);
    }
}