I have used color in range to mask my photo to pic out the colored stripes. I wish to find the position of the colored stripes in world coordinates. I know the approx height of the colored stripes above the camera, and I assume stripes are near horizontal. A = 2690 – mm distance to bottom stripe B = 4380 – mm distance to middle stripe C = 5670 – mm distance to top stripe I am new to image processing and OpenCV I wondered if there are any functions which can convert pixels to position?