def METHOD_NAME(
        point_cloud: np.ndarray,
        transform: Transform) -> np.ndarray:
    """
    Transform a bulk of points from an numpy array using a provided `Transform`.
    :param point_cloud: nx3 Array of points where n is the number of points
    :param transform: TF2 transform used for the transformation
    :returns: Array with the same shape as the input array, but with the transformation applied
    """
    # Build affine transformation
    transform_translation = np.array([
        transform.translation.x,
        transform.translation.y,
        transform.translation.z
    ])
    transform_rotation_matrix = _get_mat_from_quat(
        np.array([
            transform.rotation.w,
            transform.rotation.x,
            transform.rotation.y,
            transform.rotation.z
        ]))
    # "Batched" matmul meaning a matmul for each point
    # First we offset all points by the translation part
    # followed by a rotation using the rotation matrix
    return np.einsum(
        'ij, pj -> pi',
        transform_rotation_matrix,
        point_cloud) + transform_translation