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Naive prediction for SLAM tracker and related changes

Mateo de Mayo requested to merge mateosss/monado:mateosss/slam-predict into main
  • Updates the SLAM tracker to add timestamps to the returned poses and make predictions from the last two tracked poses, so that tracking is not limited to camera fps.
  • Updates RealSense and WMR drivers timestamps to monotonic clock.

A note on timestamps for the WMR sources: Originally, I was doing a single os_monotonic_get_ns() on start and then adding the same constant offset to each hardware timestamp. However, as suggested by @thaytan, that approach introduces some drift; in some quick tests on an Odyssey+ the timestamps drifted about 0.5ms after 5 minutes. The approach I'm using in this MR looks a lot more stable in comparison although it was an ad-hoc idea (it is an EWMA).

Edited by Mateo de Mayo

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