code: public Point2D_F64 transform( Point3D_F64 worldPt ) {
  		Point2D_F64 out = new Point2D_F64();
  		if( transform(worldPt,out))
  			return out;
  		else
  			return null;
  	}
docs: Computes location of 3D point in world as observed in the camera.  Point is returned if visible or null
  if not visible.
  
  @param worldPt Location of point on world reference frame
  @return Pixel coordinate of point or null if not visible