fix check for points behind the camera in calibration.project_to_image

[NiklasNeugebauer]

Motivation

This PR tries to solve an issue with improper checking for points behind the camera during projection of points from 3d to the camera image.
#299 (comment)

Implementation

• unify project_from_behind tests and test all input types in it
• solve the problem

Progress

• I chose a meaningful title that completes the sentence: "If applied, this PR will..."
• I chose meaningful labels (if GitHub allows me to so).
• The implementation is complete.
• Pytests have been added (or are not necessary).
• Documentation has been added (or is not necessary).