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WIP: Resolve "Eigen::Matrix::cast<ceres::Jet>() not needed if upgrading to Eigen 3.3"

Merged WIP: Resolve "Eigen::Matrix::cast<ceres::Jet>() not needed if upgrading to Eigen 3.3"
257-eigen-matrix-cast-ceres-jet-not-needed-if-upgrading-to-eigen-3-3 into devel
Merged Joan Solà Ortega requested to merge 257-eigen-matrix-cast-ceres-jet-not-needed-if-upgrading-to-eigen-3-3 into devel