Removes unused member variables.
Prints the t_ck matrix when finished.
Use_only_when_static default to false, as it breaks visual-only calibrations when set to true.
Updates the visualization of the camera locations as the optimization is running. Previously only the PnP result was drawn which could look off.
Fixes visual-only calibration, by explicitly setting RDF for the camera.
Merge pull request #2 from arpg/fix/visual-only-calibration

Fix/visual only calibration