test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -306,8 +306,8 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
     if(cnt % 10 != 0){
         mapPose = mapPose * cloudInfo.filterPoseInfo.increasePose.cast<float>();
     }else{
-        Quaterniond q(mapPose.linear());
-        Vector3d rpy= RotationQuaternionToEulerVector(q);
+        Quaternionf q(mapPose.linear());
+        Vector3f rpy= RotationQuaternionToEulerVector(q);
         LOG(INFO) << "guessPose: " << mapPose.translation().transpose()
                   << " rpy: " << rpy.transpose();
         guessPose.map_point = mapPose.cast<double>();