Refactor of methods for image analysis using manifolds

Use of manifolds is introduced to automate and improve the
covariances computation
Add manifold parallel operations
Add tools

- DprojectionP2: derivate for projection function
- snormalize: to normalize in S
Add manopt tools
Add closed solution for computing trihedron normals
Change main_Noise to change cam and LRF sd at the same time
TODO minimal solution for rotation for Lipu
Merge branch 'Experimental-Manifolds'

Update changes to master branch
Merge branch 'master' of https://github.com/jesusbriales/corner-calib

Merge CComparison changes