Transfer the point cloud to the target coordinate system

[raymondwm]

在点云操作中，经常需要转换坐标系，所以追加了这个方法

[windsurf-bot]

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[windsurf-bot]

The transform_matrix parameter should be validated to ensure it's a 4x4 matrix before performing the transformation. Consider adding a shape check:

Suggested change

	def transform(self, transform_matrix: npt.NDArray) -> None:
	"""Transfer the point cloud to the target coordinate system
	:param transform_matrix: 4*4 matrix
	"""
	xyz_pcd = self.numpy(('x', 'y', 'z'))
	points_quantic = np.column_stack(
	(xyz_pcd, np.ones(xyz_pcd.shape[0])))
	transformed_points = np.dot(transform_matrix, points_quantic.T).T
	self.pc_data['x'] = transformed_points[:, 0]
	self.pc_data['y'] = transformed_points[:, 1]
	self.pc_data['z'] = transformed_points[:, 2]
	def transform(self, transform_matrix: npt.NDArray) -> None:
	"""Transfer the point cloud to the target coordinate system
	:param transform_matrix: 4*4 matrix
	"""
	if transform_matrix.shape != (4, 4):
	raise ValueError(f"Expected 4x4 transformation matrix, got {transform_matrix.shape}")
	xyz_pcd = self.numpy(('x', 'y', 'z'))
	points_quantic = np.column_stack(
	(xyz_pcd, np.ones(xyz_pcd.shape[0])))
	transformed_points = np.dot(transform_matrix, points_quantic.T).T
	self.pc_data['x'] = transformed_points[:, 0]
	self.pc_data['y'] = transformed_points[:, 1]
	self.pc_data['z'] = transformed_points[:, 2]