GAAS

Using Fast GICP implement a gpu-based icp.

Supports Multiple lidar pointclouds combination and IMU preint based pose initial guess.

It is not recommended to use the imu preint result for localization initial guess on arm processors.

使用Fast GICP实现一组基于gpu加速的ICP定位.

支持多雷达点云合并定位与IMU预积分提供优化初始位置.

在arm处理器上，不建议使用imu预积分结果作为定位模块的初始位置估计.

Lidar坐标系:Body front,left,up
IMU坐标系:Body front,left,up