feat(ceres_intrinsic_camera_calibrator): ceres-based intrinsic calibrator

[knzo25]

Implemented a ceres-based camera intrinsics calibrator. Numerical results seem to be the same as opencv but it is way faster when using a large number of calibration images

Description

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Tests performed

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Codecov Report

Attention: 338 lines in your changes are missing coverage. Please review.

Comparison is base (b0153ee) 0.95% compared to head (a0edbff) 0.00%.

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Additional details and impacted files

@@                Coverage Diff                @@
##           tier4/universe    #141      +/-   ##
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- Coverage            0.95%   0.00%   -0.96%     
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  Files                 269       4     -265     
  Lines               20908     338   -20570     
  Branches              387       0     -387     
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- Hits                  200       0     -200     
+ Misses              20551     338   -20213     
+ Partials              157       0     -157     

Flag	Coverage Δ
differential	0.00% <0.00%> (?)
total	?

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Files	Coverage Δ
...rinsic_camera_calibrator/reprojection_residual.hpp	0.00% <0.00%> (ø)
...rator/src/ceres_intrinsic_camera_calibrator_py.cpp	0.00% <0.00%> (ø)
...tor/ceres_intrinsic_camera_calibrator/src/main.cpp	0.00% <0.00%> (ø)
...librator/src/ceres_camera_intrinsics_optimizer.cpp	0.00% <0.00%> (ø)

... and 269 files with indirect coverage changes

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