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I am not sure to understand everything, but I was thinking about something that might help. If you know the position of the bounding box in the first image, the homography matrix and you are able to transform an image to the projected scene using homography :
1 - Generate a black image and add the bounding box using the function rectangle with white pixels for example
2 - Compute the transformed image using the homography matrix
3 - Get the position of the white pixels in the converted homography coordinates image
