def _project_to_image(world_points, world_to_cam_4x4, repeated_intrinsics):
        r"""Projects points in the world coordinate system to the image coordinate system.

        Since cam_points will have shape (B, N, 3), repeated_intrinsics should have shape (B, N, 3, 3) so that
        kornia.geometry.project_points can be used.
        """
        cam_points = kornia.geometry.transform_points(world_to_cam_4x4, world_points)
        img_points = kornia.geometry.project_points(cam_points, repeated_intrinsics)

        return img_points
Projects points in the world coordinate system to the image coordinate system.

        Since cam_points will have shape (B, N, 3), repeated_intrinsics should have shape (B, N, 3, 3) so that
        kornia.geometry.project_points can be used.
        
tests/geometry/calibration/test_pnp.py