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Update slam_tracker interface to support dynamic features

Mateo de Mayo requested to merge mateosss/monado:mateosss/slam-dynamic-features into main

This is an update to the slam_tracker.hpp external header that allows external SLAM systems to optionally expose special features. I've been trying to piggy back this change into other MRs but those have not been merged for other reasons.

Conflicts with !1005 (merged).

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