code: def rigid_transform(xyz, transform):
      """Applies a rigid transform to an (N, 3) pointcloud."""
      xyz_h = np.hstack([xyz, np.ones((len(xyz), 1), dtype=np.float32)])
      xyz_t_h = np.dot(transform, xyz_h.T).T
      return xyz_t_h[:, :3]
  
file_path: torch-points3d/torch_points3d/datasets/registration/fusion.py
imports: import numpy
  from numba import njit, prange
  from skimage import measure
label_desc: Use image node_id 1 for calling a global function with example usage: rigid_transform(xyz, transform) and returns: xyz_t_h