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CUDA GNC: run GncOptimizer with the CUDA SFM LM inner solver, ~20x over CPU GNC#2593

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CUDA GNC: run GncOptimizer with the CUDA SFM LM inner solver, ~20x over CPU GNC#2593
leolrg wants to merge 3 commits into
borglab:developfrom
leolrg:cuda-gnc

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