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The methods to transform points (and various other types) are members of the TransformListener class (C++, Python).

If you have a specific question, it will be easier to provide a better answer.

The methods to transform points (and various other types) are members of the TransformListener class (C++, Python).

The methods to transform points (and various other types) are members of the TransformListener class (C++, Python).). transformPoint is the method you're looking for.