docstr: Returns trajectory set projected to camera view
docstr_tok: ["Returns","trajectory","set","projected","to","camera","view"]
code: def transform_points(world_cords, camera_transform, calibration):
      """
      Returns trajectory set projected to camera view
      """
      world_cords = np.transpose(world_cords)
      cords_x_y_z = RssUnstructuredSceneVisualizer._world_to_sensor(
          world_cords, camera_transform
      )[:3, :]
      cords_y_minus_z_x = np.concatenate(
          [cords_x_y_z[1, :], -cords_x_y_z[2, :], cords_x_y_z[0, :]]
      )
      ts = np.transpose(np.dot(calibration, cords_y_minus_z_x))
      camera_ts = np.concatenate(
          [ts[:, 0] / ts[:, 2], ts[:, 1] / ts[:, 2], ts[:, 2]], axis=1
      )
      line_to_draw = []
      for point in camera_ts:
          line_to_draw.append((int(point[0, 0]), int(point[0, 1])))
      return line_to_draw
  
imports: import glob
  import os
  import sys
  from enum import Enum
  import math
  import numpy
  import pygame
  import weakref
  import carla
  from carla import ad
label_desc: Use image node_id 14 for calling the RssUnstructuredSceneVisualizer obj's underlying member method code with example usage: obj.transform_points(world_cords, camera_transform, calibration) and returns: line_to_draw