Adjust LED model and reported poses to/from IMU-relative
as needed (even though the difference is small)

Adjust the grip pose back by 10cm

Fix use of os_mutex_unlock() instead of os_mutex_lock() in a
few places.

Update the ctrl->pose position when optical updates arrive,
so the debug UI shows the position changing

Pass camera poses and controller models in OpenCV coords. Later this
should be reverse, and WMR should flip models and cameras, so the
constellation tracker doesn't have to

Controllers are tracked using the same origin as the headset now

Rearrange the camera order so front cameras are first in the lineup,
to make it easier to debug things

Allow the constellation tracker to retrieve the generic tracker
pose for it to match LEDs against

Not yet connected to the controllers themselves

Remove all dependency on the WMR driver from the
constellation tracker

Constellation tracking only notifies about the frame start times
now. It's up to the controllers to calculate timesync from that

Improve rejection of spurious blobs from windows
and house lights by doing a simple size check on
the approximate size we expect controller LEDs to appear

Add handling of WMR controllers and index emulation
entries in the SteamVR plugin

Only apply part of a yaw update for larger updates,
to nudge the controller in the right direction and
filter out glitches.

If a controller is idle long enough or restarted, then the
device time can change enough to cause the monotonic
time matching to go backward, and lead an assertion in
the 3dof fusion. Catch the case and reset the clock
estimation and fusion entirely.

Switch the camera poses, but not the ROI

Tilt controller grip pose 40° and move it back 10cm

Add a refinement step, but disable - the OpenCV Ransac PnP frequently
produces really wrong answers for some reason.

Allow for slightly less rigid matches

Until a space overseer is set up, override the tracking origin
for all the devices the builder creates

Correct WMR controller tracking transforms by doing all
tracking work in OpenCV coordinates, with XYZ Right-Down-Away,
180° flipped from OpenXR/OpenGL coordinates.

The controller LED models are already in the right pose,
as are WMR configuration poses for the cameras,
so only the OpenXR source poses need to be flipped before
use and flipped back before publishing.

Also improve the debug render and other improvements
like not projecting LEDs into a view if they're outside
the distortion projection radius or behind the camera.

But let the gravity swing be determined solely by IMU for now

Output the latest pose for debug UI like the HMD does

Ignore the swing vector and only conside the swing angle for gravity
alignment checks