code: 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;
  	}
docs: Given a pixel, find the point on the plane.  Be sure computeInverse was set to true in
  {@link #setPlaneToCamera(georegression.struct.se.Se3_F64, boolean)}
  
  @param pixelX (input) Pixel in the image, x-axis
  @param pixelY (input) Pixel in the image, y-axis
  @param plane (output) Point on the plane.
  @return true if a point on the plane was found in front of the camera