code: def depth_map(self):
      _depth = self.captured_depth.depth_map
      assert (_depth >= 0).all()
      return _depth
  
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 4 for calling the DepthPinholeCapture obj's underlying member method code with example usage: obj.depth_map() and returns: _depth