def METHOD_NAME(
    self, point_clouds, bounding_boxes, transformation, **kwargs
):
    pose = transformation["pose"]
    point_clouds_xyz = coordinate_transform(point_clouds[..., :3], pose)
    point_clouds = tf.concat(
        [point_clouds_xyz, point_clouds[..., 3:]], axis=-1
    )
    bounding_boxes_xyz = coordinate_transform(
        bounding_boxes[..., : CENTER_XYZ_DXDYDZ_PHI.Z + 1], pose
    )
    bounding_boxes = tf.concat(
        [
            bounding_boxes_xyz,
            bounding_boxes[..., CENTER_XYZ_DXDYDZ_PHI.DX :],
        ],
        axis=-1,
    )
    return (point_clouds, bounding_boxes)