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[feat] Simplify auto diff ceres

Julia Sanchez requested to merge SimplifyAutoDiffCeres into master
  • Ceres internally squares the cost function residual.
  • By now, the square of the residual is computed, then the sqrt and Ceres computes the square again afterwards.
  • This MR changes the dimension of the residual (1D->3D) to avoid this behaviour.
  • Some comments/names are updated to better fit the code behaviour.
  • The gain is about 10% on LM optim step (5% on localization step for 3 iterations)

@nicolas.cadart @nick.laurenson PTAL

Edited by Julia Sanchez

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