code: def geom_transform_points(points, transf_matrix):
      P, _ = points.shape
      ones = torch.ones(P, 1, dtype=points.dtype, device=points.device)
      points_hom = torch.cat([points, ones], dim=1)
      points_out = torch.matmul(points_hom, transf_matrix.unsqueeze(0))
  
      denom = points_out[..., 3:] + 0.0000001
      return (points_out[..., :3] / denom).squeeze(dim=0)
  
file_path: splatter-image/utils/graphics_utils.py
imports: import torch
  import math
  import numpy
  from typing import NamedTuple
label_desc: Use image node_id 1 for calling a global function with example usage: geom_transform_points(points, transf_matrix) and returns: unknown