Add support for CAVHORE distortion

[jessemapel]

We can potentially convert CAVHORE distortion to radial and transverse, but it is probably easier to just support it directly.

[jessemapel]

Some references:

CAVHOR -> photogrammetric paper

MSL PDS geometric CM document

Gennery fish-eye distortion paper

[jessemapel]

I think for passing the distortion parameters, we pass them as:

1. X coordinate of the O vector in the focal plane
2. Y coordinate of the O vector in the focal plane
3. R parameters scaled by the focal length (p_0, p_1 / f^2, p_2 / f^4).

[jessemapel]

I am going to close that and note that we have supoort for CAVHOR. Supporting the fish eye distortion will require further work and better documentation on how the E parameter is defined.