feat: extend API with PCL point clouds & eigen matrix and affine transformation

[amadeuszsz]

Description

Add support for pcl::PointCloud<PointT>, Eigen::Affine3f, Eigen::Affine3d and Eigen::Matrix4d.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: Patch coverage is 27.27273% with 32 lines in your changes missing coverage. Please review.

Project coverage is 73.19%. Comparing base (453e118) to head (fc6205b).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
..._transform_buffer/src/managed_transform_buffer.cpp	27.27%	31 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #12      +/-   ##
==========================================
- Coverage   78.21%   73.19%   -5.02%     
==========================================
  Files           4        4              
  Lines         404      444      +40     
  Branches      200      202       +2     
==========================================
+ Hits          316      325       +9     
- Misses         22       52      +30     
- Partials       66       67       +1     

Flag	Coverage Δ		*Carryforward flag
differential	72.74% <27.27%> (?)
total	78.25% <ø> (+0.03%)	⬆️	Carriedforward from 453e118

*This pull request uses carry forward flags. Click here to find out more.

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