function x = project(X,R,T,K)

    % Number of points
    n = size(X,2);

    % Coordinates in the camera frame
    X = R*X + repmat(T, 1, n);

    % Projection
    x = K*X;

    % Scale each point so that its z-value is 1
    for i = 1:n
       x(:,i) = x(:,i)/x(3,i);
    end

end