[feature] Support for raw tensors in CameraModel

[cjpurackal]

Changes

Fixes #2708

TODO:

• fix mypy

Type of change

• 📚 Documentation Update
• 🧪 Tests Cases
• 🐞 Bug fix (non-breaking change which fixes an issue)
• 🔬 New feature (non-breaking change which adds functionality)
• 🚨 Breaking change (fix or feature that would cause existing functionality to not work as expected)
• 📝 This change requires a documentation update

Checklist

• My code follows the style guidelines of this project
• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• Did you update CHANGELOG in case of a major change?

[cjpurackal]

This PR treats the camera API to be unbatched i.e the image_sizes and camera parameters are expected to be unbatched. If it should be batched, we need to address how that will behave. (maybe in a different PR/Issue).