Set lens intrinsics in Depth and Rgbd camera sensors (backport #390)

[mergify]

Refactor projection matrix utility functions to CameraSensorUtil and set lens intrinsics in Depth and Rgbd camera sensors

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This is an automatic backport of pull request #390 done by Mergify.

[mergify]

Cherry-pick of bd695b2 has failed:

On branch mergify/bp/ign-sensors6/pr-390
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Changes to be committed:
	modified:   src/CMakeLists.txt
	new file:   src/CameraSensorUtil.cc
	new file:   src/CameraSensorUtil.hh

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   src/CameraSensor.cc
	both modified:   src/DepthCameraSensor.cc
	both modified:   src/RgbdCameraSensor.cc

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