code: def get_point_cloud_world_from_depth(self, feat_map=None):
      _pcd = pcd_projector.PointCloudProjectorNp.img_to_pcd_3d(
          self.depth_map,
          self.pinhole_cam.intrinsic_matrix,
          img=feat_map,
          cam2world=self.cam_pose.camera_to_world,
      ).astype(np.float32)
      return _pcd
  
imports: import numpy
  from cameras.pinhole_camera import resize_pinhole_camera
  from cameras import contents
  from geometry import pcd_projector
  from utils import ray_utils
label_desc: Use image node_id 6 for calling the DepthPinholeCapture obj's underlying member method code with example usage: obj.get_point_cloud_world_from_depth(feat_map) and returns: _pcd