Add support to create Coordinate Systems from homogeneous transformation matrices

[mbwinkler]

Add a method to CoordinateSystemManager to add a new CoordinateSystem by using homogeneous transformation matrices as predominately used with open3d.

Homogeneous Transformation from Coordinate System A to B

$$B = T_{AB} \times A = \left[ \begin{matrix} r_{11} & r_{12} & r_{13} & t_{1}\\\ r_{21} & r_{23} & r_{23} & t_{2}\\\ r_{31} & r_{32} & r_{33} & t_{3}\\\ 0 & 0 & 0 & 0\\\ \end{matrix}\right] \times \left[\begin{matrix} A_{x} \\\ A_{y}\\\ A_{z} \\\ 1\\\ \end{matrix}\right] = \left[ \begin{matrix} R & t \\\ 0 & 1\\\ \end{matrix}\right] \times \left[ \begin{matrix} A \\\ 1\\\ \end{matrix}\right]$$

the transformation matrix is made up of the Rotation R and the Translation t.

Therefore, to adapt to the current code, the orientation and coordinates during LocalCoordinateSystem construction can be substituted using homogenous_transformation and unit (unit in which the translation part is given. e.g. "mm")

[CagtayFabry]

A good idea!
I suggest implementing this as CoordinateSystemManager.create_cs_from_homtransform (to keep the method name somewhat short)

Let me know if you would like any help with this 👍