If you don't want to use plugins and only the C4D features, you can make your own normal material with 3 layers of falloff shaders in Camera space, linear gradient, each RGB color in one XYZ direction (1,0,0 for red, 0,1,0 for green, 0,0,1 for blue), and make sure you disabled the Color Management in the Image Color Profile render settings.
Apply this material fo your objects and the camera will be the render projection. I don't know if it's really that you want but it normally works for this purpose.
Cesar's post in How to bake Normals from Geometry? was marked as the answer