Projection of laser points on the image plane

Hi all. I am using laser scanner and webcam to detect objects. In my work I need to project laser points onto the image of the camera. I started to do camera calibration to find the intrinsic parameter of the camera and then I must do laser - camera calibration to find the extrinsic parameters ( the translation offset and the rotation matrix). My question is what is the next step after that. Could someone help me to find a method to do the projection of laser point on the image plane. Any help is highly appreciated.