Params struct refactor

[dfbakin]

Main changes

• CameraIntrinsicParameters structure reworked for cleaner code and better functionality
• Intrinsic params file idea changed (see below)
• Changed to support multiple sets of params for cameras by their ID
• Added tests for camera package: minimal read/write YAML coverage
• Shortened launch of camera node: intrinsics are read by CameraIntrinsicParameters only from special file (see below)

OLD VERSION:

image_size: [1920, 1080]
camera_matrix: [0, 0, 1, 0, -2, 0, 3, 0, 3]
distortion_coefs: [1, 2, 3, 4, 5]

NEW VERSION (rotation and translation are from "world" to "camera")

parameters:
  1:
    image_size: [1920, 1080]
    camera_matrix: [0, 0, 1, 0, -2, 0, 3, 0, 3]
    distortion_coefs: [1, 2, 3, 4, 5]
    rotation: [1, 2, 3]
    translation: [1, 2, 3]
  2:
    image_size: [1920, 1080]
    camera_matrix: [42, 0, 1, 0.4242, -2, 0, 3, 0, 3]
    distortion_coefs: [1, 2, 3, 4, 5]
    rotation: [1, 2, 3]
    translation: [1, 2, 3]