def passive_transform_point(self, point):
    """ Applies the passive transformation of the dual quaternion to a point.
    """
    # TODO(ff): Check if the rotation is in the right direction.
    point_dq = DualQuaternion.from_pose(
        point[0], point[1], point[2], 0, 0, 0, 1)
    dq_in_new_frame = self * point_dq
    return dq_in_new_frame.to_pose()[0:3]
 Applies the passive transformation of the dual quaternion to a point.
    
hand_eye_calibration/python/hand_eye_calibration/dual_quaternion.py