Draft: project all lidar points to image

This is a hacky test. We project all the points in a point cloud onto an image to find out if any of those lag behind for some reason.

What to note:

• It is still not fully working. There is very few points that show up on an image and I'm still trying to understand why
• We use the "exact" matching strategy, thus such a low number of images that actually get shown, but that's ok