How to project Lidar 3D points to camera 2D points

Could any body explain how to project Lidar 3D points to camera 2D in Carla please? I’m struggling a lot trying to do it and there is no enough information on how to do it on Carla.

there’s not a lot of information about it because this is more of a camera geometry problem than a CARLA problem. this github issue should help point you in the right direction. you might need to read up on camera intrinsics/extrinsics, camera projection and direct linear transform.