Pinhole Camera Intrinsic Projection

Given a 3D point in camera coordinates and a camera intrinsic matrix $K$, compute the projected 2D pixel coordinates using the pinhole camera model.

The intrinsic matrix $K$ has the form:

$K = \begin{bmatrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{bmatrix}$

Where $f_x, f_y$ are focal lengths and $(c_x, c_y)$ is the principal point.

The projection formula is:

$\begin{bmatrix} u \\ v \\ 1 \end{bmatrix} = \frac{1}{Z_c} K \begin{bmatrix} X_c \\ Y_c \\ Z_c \end{bmatrix}$

Return the 2D pixel coordinates $[u, v]$ rounded to 2 decimal places.