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Use JSON for the calibration file

Mateo de Mayo requested to merge mateosss/monado:mateosss/json-calib into main

This is a reduced idea from !980 (closed). It just ports what we already do for calibration so that it uses JSON. The issues addressed in !980 (closed) like proposing a more general calibration file and passing calibration data to SLAM systems will be postponed.

It also updates the slam_tracker.hpp to allow "special features" to be implemented in the external SLAM systems, although it does not use any for now.

Edited by Mateo de Mayo

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