Fix ceres manifold build

[jmackay2]

Fixes #3270 .

When using the ceres manifold, we should set the manifold instead of the parameterization.

This was tested by building successfully with the latest ceres, which previously failed.

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[asmorkalov]

/cc @vrabaud

[vrabaud]

Indeed, thx. Just realized that our compilation was not working internally either. Thx !

[alalek]

Thank you for contribution 👍

[jiapei100]

Yeah... This solved my problem.... Thank you ..