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Function without config file

Mateo de Mayo requested to merge mateosss/wmr-slam-calib into xrtslam

Merge after monado/monado!1334 (merged)

Allows the interface user (Monado) to only provide calibration info through add_cam_calibration and add_imu_calibration and then we generate a default config file for it. It also adds the ability to automatically computes view_offset in this scenario or for config files with view_offset = [0, 0].

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