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Create a set of helper classes to create ceres optimisation problems on splines#557

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cedricpradalier wants to merge 5 commits into
strasdat:mainfrom
cedricpradalier:spline_error
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Create a set of helper classes to create ceres optimisation problems on splines#557
cedricpradalier wants to merge 5 commits into
strasdat:mainfrom
cedricpradalier:spline_error

Added an error residual for situation where points from two splines need

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