The photos are only stored on the SD card.
You can mount the phone to the computer using the USB cable and selecting "mount as disk drive" from the connect to PC settings on the phone.
You can also turn off the phone, take the battery out and then the SD card out. You can then use a card reader to connect the SD card to the computer and copy the pictures over.
Either way, the pictures that you took with the phone's camera are stored on the DCIM folder in the SD card.
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