Add validity check for pixel coordinate in the Fisheye camera. Fix tests. #2790
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ahojnnes
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This PR is a follow-up for #2789 (should be reviewed on top of that PR being merged), which should resolve the CI issue from #2786.
The pixel coordinate is constrained in the Fisheye image, where theta needs to be smaller than pi / 2. To be able to support this I did some further abstraction by supporting the conversion from image to Fisheye coordinates.