def METHOD_NAME(
    shot: pymap.Shot, pixel: List[float], depth: float
) -> np.ndarray:
    """
    Back-project a pixel of a perspective camera ignoring its radial distortion
    """
    K = shot.camera.get_K()
    K1 = np.linalg.inv(K)
    p = np.dot(K1, [pixel[0], pixel[1], 1])
    p *= depth / p[2]
    return shot.pose.transform_inverse(p)