code: public boolean transform( Point3D_F64 worldPt , Point2D_F64 pixelPt ) {
  		SePointOps_F64.transform(worldToCamera,worldPt,cameraPt);
  
  		// can't see the point
  		if( cameraPt.z <= 0 )
  			return false;
  
  		normToPixel.compute(cameraPt.x/cameraPt.z, cameraPt.y/cameraPt.z, pixelPt);
  		return true;
  	}
docs: Computes the observed location of the specified point in world coordinates in the camera pixel.  If
  the object can't be viewed because it is behind the camera then false is returned.
  @param worldPt Location of point in world frame
  @param pixelPt Pixel observation of point.
  @return True if visible (+z) or false if not visible (-z)