code: def project(self, points):
          
          K = self.camera_matrix
          XU = points
          XU = XU / np.tile(XU[2], (3,1))
          X = self.apply(XU)
          x2d = np.dot(K, X)
          return from_homogeneous(x2d)
docs: Project 3D points to image coordinates.
  
          This projects 3D points expressed in the camera coordinate system to image points.
  
          Parameters
          --------------------
          points : (3, N) ndarray
              3D points
  
          Returns
          --------------------
          image_points : (2, N) ndarray
              The world points projected to the image plane