Project Points to Plane

@bleenco1 VersionCalculate

Maps [Vector2d<Double>] image-space points onto a calibrated ground plane, emitting [Vector2d<Double>] world-coordinate positions. Uses a 9-element homography with radial lens undistortion.

How it fits

Typical backends

Real-world tracking — project tracked centroids to world coordinates for zone checks.

Smoothed world positions — project Kalman-filtered positions to world plane.

Caveats

Hard constraintThe 9 homography coefficients and k1, k2, distortion must be calibrated offline; wrong values silently produce wrong world coordinates.
LimitationTangential lens warp (`p1`, `p2`) is not modelled — only radial distortion via k1 and k2.
LimitationA single homography assumes a planar scene; multi-level environments need separate deployments per plane.
AccuracyNear-degenerate homographies (camera nearly coplanar with the target plane) are numerically unstable.

Versions

32209ff6latestdefault
Automated release
6/25/2026