* perception: speed up lane process

* perception: no need to skip frame

* perception: sytle

* localization_v1.0

* update

* google style

* google style

* update

* modify the direction of yaw follow apollo rule

* update

* fix a lidar localization initail bug

* update

* update

* update

* fix code style

* update

* modify for comment

* modify for comments

* modify for commits

* add CHECK_NONULL

Perception: Don't put an alias in your public API just to save typing in the implementation.(https://google.github.io/styleguide/cppguide.html)

* Perception: Fix lint error after refactoring

* Perception: Speed up camera converter by reducing copy and reducing search space

* Perception: Speed up camera object filter by unordered_map, deleting unused states, reducing latent space. Fix a direction not outputing issue

* Perception: lint

* Perception: Set perception hz to max 20 Hz

* put yuv2bgr in gpu

* perception: put yuv2bgr in gpu

* Perception: ignore car_linear_speed option in radar

* Perception: enable lane tracking by history. Function OK, parameter tuning needed