(4.x) Merge 3.4 #3268
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(4.x) Merge 3.4 #3268
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* Use ceres::Manifolds instead of ceres::LocalParameterization. The latter is deprecated. * Fix typo. * Fix version check. * And more version fixes.
fix axes and docs * fix axes docs, tutorial and add estimateParameters, change estimateParameters in test * update docs, add singlemarkersaxes2.jpg * fix docs
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#3243 from vrabaud:3.4_ceres
#3256 from AleksandrPanov:fix_aruco_axes_docs
Main PR: opencv/opencv#22067
Previous "Merge 3.4": #3262