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feat: add point cloud transformation utilities and LCP metric
- Add transform_point_cloud() and transform_point_cloud_parallel() for creating transformed copies - Add transform_point_cloud_inplace() and transform_point_cloud_inplace_parallel() for memory-efficient transforms - Move LCP score computation to metrics module as LCPMetric class - Update RANSAC and 4PCS registration to use the new LCPMetric - Fix RANSAC convergence check logic using sliding window approach - Add comprehensive benchmarks comparing sequential vs parallel and in-place vs copy transforms - Add unit tests for all transformation functions - Add example demonstrating transformation usage Performance findings: - Sequential is faster for clouds < 100K points due to thread overhead - Parallel shows benefits for clouds > 1M points - In-place transforms are generally 1.5-2x faster and save memory 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
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‎CLAUDE.md‎

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### Primary Development Flow
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**Configure with CMake preset:**
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```bash
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# Configure (example for Linux with Clang 21 and TBB)
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cmake -S . -B build/build-linux-clang-21-tbb --preset build-linux-clang-21-tbb
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```
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**Run tests and benchmarks:**
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```bash
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# Run all tests
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build/build-linux-clang-21-tbb/bin/cpp-toolbox_test
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```
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**Development utilities:**
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```bash
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# Format code before committing
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make format
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### Alternative Build Systems
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**xmake:**
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```bash
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xmake
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xmake run cpp-toolbox_test
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- Use provided type aliases (e.g., `PointCloud`, `KDTree`)
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### Key Naming Conventions (from CODE_STYLE.md)
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- Classes, structs, enums, functions, variables: `lower_case`
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- Protected/private members: `m_` prefix + `lower_case`
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- Template parameters: `CamelCase`
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## Common Development Tasks
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### Adding New PCL Component
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1. Create interface in `src/include/cpp-toolbox/pcl/<category>/`
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2. If templated, add implementation in corresponding `impl/` subdirectory
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3. Add to module's main header (e.g., `features.hpp`, `descriptors.hpp`)
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4. Create unit test in `test/pcl/`
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5. Add benchmark if performance-critical
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### Running Specific Tests
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```bash
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# Run tests with specific tag
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build/build-linux-clang-21-tbb/bin/cpp-toolbox_test "[knn]"
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```
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### Debugging Build Issues
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- Check `CMakeUserPresets.json` for correct configuration
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- Ensure dependencies are fetched: `cmake --preset=dev`
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- For TBB support: install system TBB or let CMake fetch it
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- Thread pool singleton is available via `ThreadPoolSingleton::instance()`
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- PCL components are designed to work with PCL library types but provide own implementations
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- Memory-mapped file support for efficient large file processing
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- Extensive use of concepts and SFINAE for type safety in C++17/20
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- Extensive use of concepts and SFINAE for type safety in C++17
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- Commit in english and do not use chinse

‎CMakeUserPresets.json‎

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"CMAKE_C_COMPILER": "clang-21",
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"CMAKE_LINKER": "lld-21",
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"CMAKE_CXX_FLAGS": "-stdlib=libc++"
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// "CMAKE_BUILD_TYPE": "Debug"
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}
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},
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{

‎benchmark/CMakeLists.txt‎

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# ${CMAKE_SOURCE_DIR}/test/my_catch2_main.cpp
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concurrent/parallel_benc.cpp
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types/types_benc.cpp
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types/point_transform_bench.cpp
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file/memory_mapped_file_benc.cpp
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pcl/downsampling_benc.cpp
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pcl/knn_benc.cpp

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