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I think the author had a PointStamped in mind when implementing the function. So you could could do something like

ps = geometry_msgs.msg.PointStamped(point=point_wrt_kinect)
pose_transformed = tf2_geometry_msgs.do_transform_point(ps, transform)

I think the author had a PointStamped in mind when implementing the function. So you could could do something like

ps = geometry_msgs.msg.PointStamped(point=point_wrt_kinect)
pose_transformed = tf2_geometry_msgs.do_transform_point(ps, transform)

I think the author had a PointStamped in mind when implementing the function. So you could could do something like

ps = geometry_msgs.msg.PointStamped(point=point_wrt_kinect)
pose_transformed = tf2_geometry_msgs.do_transform_point(ps, transform)

The code for the function is here: tf2_geometry_msgs.py

The function only uses the point-member of the passed point-variable so it for example does not check if the frame-id of a passed PointStamped-variable would fit to the frames of the transformation (which also looks like it expectecs a Stamped version, but again ignores (the frame is here used to set the header).resulting frame of the returned PoseStamped).

So in the end, do_transform_point looks like it's processing objects with Headers but ignores them and only works on the raw points and transformation.

I think the author had a PointStamped in mind when implementing the function. So you could could do something like

ps = geometry_msgs.msg.PointStamped(point=point_wrt_kinect)
pose_transformed = tf2_geometry_msgs.do_transform_point(ps, transform)

The code for the function is here: tf2_geometry_msgs.py[https://github.com/ros/geometry2/blob/indigo-devel/tf2_geometry_msgs/src/tf2_geometry_msgs/tf2_geometry_msgs.py)

The function only uses the point-member of the passed point-variable so it for example does not check if the frame-id of a passed PointStamped-variable would fit to the frames of the transformation (the frame is here used to set the resulting frame of the returned PoseStamped).

So in the end, do_transform_point looks like it's processing objects with Headers but ignores them and only works on the raw points and transformation.