Sparse map multiple cameras

[rsoussan]

Add support for using multiple cameras when making sparse maps. Updated localization node to localize with the camera params from the current robot config. @amoravargas

[rsoussan]

Assuming you tested with both new and previous maps. Impressed you managed to finish this in time, great work!

Thanks! Yeah I tested map creation with different camera models, including merging, and localizing on maps old and new. Looks good, we might want to have @amoravargas test it with a real mapping pipeline before we merge, also haven't done granite tests

[bcoltin]

Make sure to fix the CI too