class_docstr: A duplicate of our JAX-basded camera class.
  
  This is necessary to use tf.data.Dataset.
class_docstr_tok: ["A","duplicate","of","our","JAX-basded","camera","class",".","This","is","necessary","to","use","tf.data.Dataset","."]
code: def pixels_to_points(self, pixels: tnp.ndarray, depth: tnp.ndarray):
      rays_through_pixels = self.pixels_to_rays(pixels)
      cosa = rays_through_pixels @ self.optical_axis
      points = (
          rays_through_pixels
          * depth[..., tnp.newaxis]
          / cosa[..., tnp.newaxis]
          + self.position
      )
      return points
  
imports: from typing import Tuple, Optional
  import tensorflow
  from tensorflow.experimental import numpy
label_desc: Use image node_id 12 for calling the TFCamera obj's underlying member method code with example usage: obj.pixels_to_points(pixels, depth) and returns: points