* localization: update lidar channel to lidar128

* localization: fix warnings in lossy_map_matrix_2d.cc

* localization: support selecting map from DV

* localization: support selecting map from DV

* localization: update localizaiion.dag

* localization: support double-antena static initialization

* localization: change msf_config.proto to gflags

* localization: change threadpool to cyber::task

* localization: change local_map test style

* localization: change unit test style

* localization: implement frame_transform with proj4 and add avx support for lidar localization

* localization: implement frame_transform with proj4 and add avx support for lidar localization

* localization: fix bug

* localization: fix map pool release bug and set if_use_avx = true

* localization: update lidar channel to lidar128

* localization: fix warnings in lossy_map_matrix_2d.cc

* localization: support selecting map from DV

* localization: support selecting map from DV

* localization: update localizaiion.dag

* localization: support double-antena static initialization

* localization: change msf_config.proto to gflags

* localization: change threadpool to cyber::task

* localization: change local_map test style

* localization: change unit test style

This reverts commit 268eea1a.

* msf localization: added adapters and utilitiesw

* Fix gnss_best_pose.proto & adapter_config.proto bugs

* Del gnss_raw_observation.proto of localzition & fix gnss_raw_pnt_result.proto bug

* Fix stype: localization/msf/common

* update local_map.

* add msf localizaiton

* update

* Fix style in msf/common

* Fix style

* fix note error

* Add msf documentation 5%

* fix msf doc bug

* Update msf localization doc

* Update msf doc

* Update msf doc

* added visualization tool.

* remove dependence on boost::threadpool

* Update msf doc

* Update msf doc

* Change lidar extrinsics setting method

* change msf 'map_path' to 'local_map_path'

* set map path & tf frame id & extrinsic paras

* format code to Google style using clang-format

* Add arm para support

* Update msf doc

* fix msf doc bug

* debug

* Add CHECK for arm para input

* Add Raw IMU msg & handle functioon in msf localization

* added tool about data extraction from bag.

* update visualization tool.

* changed code style of data_extraction.

* changed code style of local_visualization.

* modified code style for local_map.

* fix bugs

* added ut framework for local_map.

* added ut framework for common.

* update liblocalization_msf_local_integ.so.

* update ut of local_map.

* update local_map.

* fixed bag in threadpool.

* added scripts for tools.

* update local_visualization.

* Add UT of common

* some modify

* some modify

* modify

* update ut for common and local_map.

* update ut for common and local_map.

* update

* modify

* msf localization add thread && fix bug

* localization.conf: filter_size 17, thread_mum 1, point_cloud_step 2

* localization.conf

* several modify in detail

* fix imutoant read

* update

* publish LocalizationEstimation for debug

* Change measure proto to localization_estimate

* updated offline visualization tools.

* added visualization manager for online visualization.

* update msf

* update local_integ

* update msf README.md

* update msf README.md

* update msf README.md

* localization add Stop

* update adapter (msf)

* updated offline visualization.

* fix msf imu_ant value load bug

* add list to publish msg

* fix bug

* added online visulization tool.

* add lidar-localization switch

* update msf

* fix parms bug

* fix some code style

* finished code style modification.

* Localization: fix conflict.