title: Projection matrix + world plane ~> Homography from image plane to world plane
body: <p>I think I have my wires crossed on this, it should be quite easy.</p>
  
  <p>I have a projection matrix from world coordinates to image coordinates (4D homogeneous to 3D homgeneous), and therefore I also have the inverse projection matrix from image coordinates to world "rays".</p>
  
  <p>I want to project points of the image back onto a plane within the world (which is given of course as 4D homogeneous vector). The needed homography should be uniquely identified, yet I can not figure out how to compute it.</p>
  
  <p>Of course I could also intersect the back-projected rays with the world plane, but this seems not a good way, knowing that there MUST be a homography doing this for me.</p>
  
  <p>Thanks in advance,
  Ben</p>