Ubuntu

fix the rotation averaging bug (#227) #258

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Job	Run time
ubuntu-24.04 ClangTidy	1m 58s
ubuntu-22.04 Release	3m 23s
ubuntu-24.04 Release ASan	4m 10s
ubuntu-24.04 RelWithDebInfo	4m 34s
ubuntu-22.04 Release CUDA	5m 27s
	19m 32s