docs: public boolean pixelToPlane( double pixelX , double pixelY , Point2D_F64 plane ) {
  		// computer normalized image coordinates
  		pixelToNorm.compute(pixelX,pixelY,norm);
  
  		// Ray pointing from camera center through pixel to ground in ground reference frame
  		pointing.set(norm.x,norm.y,1);
  		GeometryMath_F64.mult(cameraToPlane.getR(), pointing, pointing);
  
  		double height = cameraToPlane.getY();
  
  		// If the point vector and the vector from the plane have the same sign then the ray will not intersect
  		// the plane or the intersection is undefined
  		if( pointing.y*height >= 0 )
  			return false;
  
  		// compute the location of the point on the plane in 2D
  		double t = -height / pointing.y;
  
  		plane.x = pointing.z*t;
  		plane.y = -pointing.x*t;
  
  		return true;
  	}