code: public boolean planeToPixel( double pointX , double pointY , Point2D_F64 pixel ) {
  		// convert it into a 3D coordinate and transform into camera reference frame
  		plain3D.set(-pointY, 0, pointX);
  		SePointOps_F64.transform(planeToCamera, plain3D, camera3D);
  
  		// if it's behind the camera it can't be seen
  		if( camera3D.z <= 0 )
  			return false;
  
  		// normalized image coordinates and convert into pixels
  		double normX = camera3D.x / camera3D.z;
  		double normY = camera3D.y / camera3D.z;
  		normToPixel.compute(normX,normY,pixel);
  
  		return true;
  	}
docs: Given a point on the plane find the pixel in the image.
  
  @param pointX (input) Point on the plane, x-axis
  @param pointY (input) Point on the plane, y-axis
  @param pixel (output) Pixel in the image
  @return true if the point is in front of the camera.  False if not.