Extrinsic calibration optimization

[jaagut]

Is your feature request related to a problem? Please describe.

In order to improve our senses, we should continue our work regarding extrinsic calibration and it's optimization.

Describe the solution you'd like

Describe alternatives you've considered

[Flova]

We now have an extrinsic calibration, that works quite well. But an automatic optimization would be cool.