Feat/camera matrix type

[jorgenfj]

Camera intrinsics type with common projection operations as member functions.
Added the projection operations as "math" functions using eigen matrix type.
Added gcc13 installation in workflow to support std::format requirement

[codecov]

Codecov Report

❌ Patch coverage is 82.63473% with 29 lines in your changes missing coverage. Please review.
✅ Project coverage is 83.18%. Comparing base (e2f9306) to head (3a02fdb).

Files with missing lines	Patch %	Lines
vortex_utils/cpp_test/test_types.cpp	78.37%	0 Missing and 16 partials ⚠️
vortex_utils/cpp_test/test_math.cpp	72.97%	0 Missing and 10 partials ⚠️
vortex_utils/include/vortex/utils/types.hpp	93.75%	1 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #33      +/-   ##
==========================================
- Coverage   83.24%   83.18%   -0.06%     
==========================================
  Files          11       11              
  Lines        1086     1249     +163     
  Branches      523      625     +102     
==========================================
+ Hits          904     1039     +135     
  Misses          6        6              
- Partials      176      204      +28     

Flag	Coverage Δ
unittests	83.18% <82.63%> (-0.06%)	⬇️

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Files with missing lines	Coverage Δ
vortex_utils/include/vortex/utils/math.hpp	80.00% <ø> (ø)
vortex_utils/src/math.cpp	92.68% <100.00%> (+0.31%)	⬆️
vortex_utils/include/vortex/utils/types.hpp	95.96% <93.75%> (-0.14%)	⬇️
vortex_utils/cpp_test/test_math.cpp	82.02% <72.97%> (-1.25%)	⬇️
vortex_utils/cpp_test/test_types.cpp	65.08% <78.37%> (+10.35%)	⬆️

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