Set camera projection matrix based on lens params for other types of cameras

[iche033]

🦟 Bug fix

Related issues: gazebosim/gz-rendering#968, #363

Related PR: gazebosim/gz-rendering#1002

Summary

For camera types other than camera, e.g. depth_camera, the input camera sdf's lens <intrinsics> or <projection> parameters were not used. This PR refactor's the base CameraSensor class' logic for parsing and setting custom projection matrix in to a new function named UpdateLensIntrinsicsAndProjection(). The derived camera classes now call this function for setting a custom projection matrix if needed.

Added tests to verify the intrinsic params published through the camera info topic for depth camera sensors.

Here is a test camera_projection.sdf world file. Together with gazebosim/gz-rendering#1002, a depth camera should now produce the same image / FOV as a regular camera when intrinsics or projection param are specified in the sdf.

Before: Cameras have different FOV.

After: Depth camera has the same horizontal FOV as a regular camera

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[ahcorde]

just a small change, but LGTM