code: def shot_all_rays(cap):
      c2w = cap.cam_pose.camera_to_world
      temp_pcd = PointCloudProjectorNp.img_to_pcd_3d(
          np.ones(cap.size),
          cap.intrinsic_matrix,
          img=None,
          cam2world=c2w,
      )
      dirs = temp_pcd - cap.cam_pose.camera_center_in_world
      dirs = dirs / np.linalg.norm(dirs, axis=1, keepdims=True)
      origs = np.stack(
          [cap.cam_pose.camera_center_in_world] * dirs.shape[0], axis=0
      )
      return origs, dirs
  
file_path: ml-neuman/utils/ray_utils.py
imports: import numpy
  import torch
  import igl
  from geometry.pcd_projector import PointCloudProjectorNp
  from utils.constant import DEFAULT_GEO_THRESH, PERTURB_EPSILON
label_desc: Use image node_id 3 for calling a global function with example usage: shot_all_rays(cap) and returns: origs,  dirs