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tracking overrides

Christoph Haag requested to merge haagch/monado:tracking_override_2 into master

This implements simple tracking overrides via wrapper devices. When creating devices, the prober also reads the main config file. When a config for a tracking override is found, it completely replaces the device targeted by a tracking override with a new wrapper xrt_device.

The wrapper device takes ownership of a "target" device that the wrapper will mimic, a tracker device (it does not take ownership of it because a tracker device could be assigned to multiple targets) from which the get_tracked_pose() will be taken, and an offset pose, that describes the "physical" transform from the thing that the tracker is attached to, to the tracker, in the space of the tracker.

Also adds a simple gui for setting up overrides. It should improved in the future, especially for rotation offsets, but it should be good enough for now to demonstrate the concept.

To enable basic config editing from the GUI, move the prober json config handling to aux/util and add functionality to replace specific parts of the json before writing back to a file.

Edited by Christoph Haag

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