I want location my camera with image by matlab's function "extrinsicsToCameraPose" and data set of SURFPoints and their features and their location in the world. I use matlab's functions 'matchFeatures' and 'estimateFundamentalMatrix' to get points with location folowing the data set. The data set was taken from image of the same building of my image but the angle is very big, so it's dificult to get good Match. I know there is a way to rotate the features of SURFPoints, but I dont know how to do it in matlab. I attach 2 images to example.