class_docstr: Class to handle camera geometry.
class_docstr_tok: ["Class","to","handle","camera","geometry","."]
code: def points_to_local_points(self, points: np.ndarray):
      translated_points = points - self.position
      local_points = (
          np.matmul(self.orientation, translated_points.T)
      ).T
      return local_points
  
imports: import copy
  import json
  from typing import Tuple, Union, Optional
  import numpy
  from nerfies import gpath
  from nerfies import types
label_desc: Use image node_id 19 for calling the Camera obj's underlying member method code with example usage: obj.points_to_local_points(points) and returns: local_points