code: public static Point2D_F64 renderPixel(CameraPinhole intrinsic , Point3D_F64 X ) {
  		Point2D_F64 norm = new Point2D_F64(X.x/X.z,X.y/X.z);
  		return convertNormToPixel(intrinsic, norm, norm);
  	}
docs: Renders a point in camera coordinates into the image plane in pixels.
  
  @param intrinsic Intrinsic camera parameters.
  @param X 3D Point in world reference frame..
  @return 2D Render point on image plane or null if it's behind the camera