code: public static Point2D_F64 renderPixel( Se3_F64 worldToCamera , DMatrixRMaj K , Point3D_F64 X ) {
  		return ImplPerspectiveOps_F64.renderPixel(worldToCamera,K,X);
  //		if( K == null )
  //			return renderPixel(worldToCamera,X);
  //		return ImplPerspectiveOps_F64.renderPixel(worldToCamera,
  //				K.data[0], K.data[1], K.data[2], K.data[4], K.data[5], X);
  	}
docs: Renders a point in world coordinates into the image plane in pixels or normalized image
  coordinates.
  
  @param worldToCamera Transform from world to camera frame
  @param K Optional.  Intrinsic camera calibration matrix.  If null then normalized image coordinates are returned.
  @param X 3D Point in world reference frame..
  @return 2D Render point on image plane or null if it's behind the camera