code: def point_cloud_world(self):
      return self.get_point_cloud_world_from_depth(feat_map=None)
  
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 5 for calling the DepthPinholeCapture obj's underlying member method code with example usage: obj.point_cloud_world() and returns: self