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Fix GNSS validation and add 1x compressed-map GICP pipeline - #16

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FieldDiTian:agent/gnss-review-fixes
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Fix GNSS validation and add 1x compressed-map GICP pipeline#16
FieldDiTian wants to merge 4 commits into
augcog:ucb-roarfrom
FieldDiTian:agent/gnss-review-fixes

Address consolidated PR 16 replay review

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