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It looks like there is a magic number of 40:

self.goodenough = (len(self.db) >= 40) or all([p == 1.0 for p in progress])

https://github.com/ros-perception/image_pipeline/blob/indigo/camera_calibration/src/camera_calibration/calibrator.py#L311

Change it to zero or whatever you like (clone the the image_pipeline pipeline into your catkin_ws and catkin_make it, if devel or install is sourced it should take precedence over the unmodified image_pipeline elsewhere on your system when you rosrun/launch it).

You could also probably fake it by send the same images repeatedly until 40 is reached.