Add CI for CUDA

[strasdat]

Sophus used to work inside CUDA kernels, However there is no CI action, and it is likely it does not compile with CUDA anymore.

TODO:

Add some compile-only regression test of typical operations (at least for SO3/SE3). This should not require a NVIDIA GPU on the runner, just CUDA libraries installed.

[strasdat]

#548 I do have the basics figured out.

If somebody could donate a nice set of cuda kernels using SE3 and friends. That would be appreciated.