Fits a 2D projective transform between two point sets with RANSAC at a caller-chosen reprojection threshold, and returns both the homography and the inlier mask. The mask is what makes this useful beyond a plain fit: bad correspondences are named rather than quietly averaged in, so a caller can re-run detection, drop a frame or raise an alarm. Suitable for document rectification, planar tracking and image stitching where the scene really is flat.

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