Fixed and improved calibration program.
Fixed and improved calibration program.

The internal parameter optimization now makes much more sense and works
properly, so it's also enabled by default.

The Levenberg-Marquardt optimization is fixed/written properly.

Several false dependencies have been removed, along with lots of unused code.

This code depends on an up-to-date se3.h in TooN, for Jacobian functions.

oneminot/libcvd,oneminot/libcvd,oneminot/libcvd