def METHOD_NAME(
    points: NDArrayF64, intrinsics: NDArrayF64
) -> NDArrayF64:
    """Project Nx3 points to Nx2 pixel coordinates with 3x3 intrinsics."""
    hom_cam_coords = points / points[:, 2:3]
    pts_2d = np.dot(hom_cam_coords, np.transpose(intrinsics))
    res: NDArrayF64 = pts_2d[:, :2].astype(np.float64, copy=False)
    return res