class_docstr: Class to handle camera geometry.
class_docstr_tok: ["Class","to","handle","camera","geometry","."]
code: def pixels_to_points(self, pixels: np.ndarray, depth: np.ndarray):
      rays_through_pixels = self.pixels_to_rays(pixels)
      cosa = np.matmul(rays_through_pixels, self.optical_axis)
      points = (
          rays_through_pixels
          * depth[..., np.newaxis]
          / cosa[..., np.newaxis]
          + self.position
      )
      return 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 18 for calling the Camera obj's underlying member method code with example usage: obj.pixels_to_points(pixels, depth) and returns: points