real marginalization is removed in solve_ceres()

real marginalization is removed in solve_ceres()

* \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v) * * \param P 3D point coordinates * \param p return value, contains

* \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v) * * \param P 3D point coordinates * \param p return value, contains

* \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v) * * \param P 3D point coordinates * \param p return value, contains

* \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v) * * \param P 3D point coordinates * \param p return value, contains

//PRIVATE FUNCTIONS Function to calculate the value of a given spline at a point xval

* \brief Projects an undistorted 2D point p_u to the image plane * * \param p_u 2D point coordinates * \return image point coordinates */

* \brief Projects an undistorted 2D point p_u to the image plane * * \param p_u 2D point coordinates * \return image point coordinates */

* \brief Projects an undistorted 2D point p_u to the image plane * * \param p_u 2D point coordinates * \return image point coordinates */

* \brief Projects an undistorted 2D point p_u to the image plane * * \param p_u 2D point coordinates * \return image point coordinates */