pub fn project_points(
points_3d: &[(f32, f32, f32)],
intrinsics: &CameraIntrinsics,
) -> Vec<(f32, f32)>Expand description
Project 3D points to 2D using camera intrinsics. Project 3-D world points to 2-D pixel coordinates using a pinhole camera model (no extrinsic rotation/translation — assumes camera-frame coordinates).