def orthographic_projection(X, camera):
    """Perform orthographic projection of 3D points X using the camera parameters
    Args:
        X: size = [B, N, 3]
        camera: size = [B, 3]
    Returns:
        Projected 2D points -- size = [B, N, 2]
    """
    camera = camera.reshape((-1, 1, 3))
    X_trans = X[:, :, :2] + camera[:, :, 1:]
    shape = X_trans.shape
    X_2d = (camera[:, :, 0] * X_trans.reshape((shape[0], -1))).reshape(shape)
    return X_2d
Perform orthographic projection of 3D points X using the camera parameters
    Args:
        X: size = [B, N, 3]
        camera: size = [B, 3]
    Returns:
        Projected 2D points -- size = [B, N, 2]
    
ppdet/modeling/architectures/pose3d_metro.py