Update ceres::LocalParameterization to ceres::Manifold #315

Job	Run time
build-mac (macos-11)	10m 16s
build-mac (macos-12)	5m 46s
build-win (windows-2019, Visual Studio 16 2019)	8m 49s
build-ubuntu (ubuntu-20.04, Release, gcc, g++)	5m 28s
build-ubuntu (ubuntu-20.04, Release, clang, clang++)	4m 27s
build-win (windows-2022, Visual Studio 17 2022)	7m 50s
build-ubuntu (ubuntu-20.04, Debug, gcc, g++)	5m 21s
build-ubuntu (ubuntu-20.04, Debug, clang, clang++)	3m 18s
build-ubuntu (ubuntu-22.04, Release, gcc, g++)	5m 56s
build-ubuntu (ubuntu-22.04, Release, clang, clang++)	4m 47s
build-ubuntu (ubuntu-22.04, Debug, gcc, g++)	5m 50s
build-ubuntu (ubuntu-22.04, Debug, clang, clang++)	3m 38s
build-ubuntu (ubuntu-24.04, Release, gcc, g++)	4m 49s
build-ubuntu (ubuntu-24.04, Release, clang, clang++)	4m 38s
build-ubuntu (ubuntu-24.04, Debug, gcc, g++)	5m 44s
build-ubuntu (ubuntu-24.04, Debug, clang, clang++)	3m 53s
cppcheck	0s
ceres	0s
codecov	0s
autodiff	0s
valgrind	0s
pybind11-pip	0s
pybind11-cmake	0s
	1h 30m 30s

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