[FEATURE] Add New Features for Madrona Batch Rendering

[ACMLCZH]

• Based on [FEATURE] Integrating Madrona Batch Renderer #1416 , add more features for BatchRender. See demo script examples/rigid/single_franka_batch_render.py.

Render

• Use rgb/depth/normal/segmentation in camera.render() or scene.render_all_cameras() to control the image components you want to render.
• Use colorize_seg to colorize the segmentation map.
• Use segmentation_level="geom"/"link"/"entity" in gs.options.VisOptions to control the segmentation level. (Now Pyrender also supports segmentation_level="geom").
• Support rendering point clouds with BatchRender in camera.render_pointclouds().
• Images are returned as ndarray and depth/segmentation image has shape (..., H, W,) (instead of (..., H, W, 1) ) for consistency with other renderers.

Light

• Use scene.add_light() to add point/directional lights for BatchRender. Original add_light() function (specific for Luisa Raytracer) is renamed to add_mesh_light().
• Support color for colored lights.
• Support attenuation for attenuation factor (based on squared distance) for pointed lights.

Camera

• Support setting near and far plane distance in scene.add_camera().

Bug Fix

• Fix projection matrix in BatchRender. Now its depth images should match with Pyrender.
• Fix issue that when running in raytracer mode, the rasterization also runs. The (single-bounced) raytracer mode's speed should be slightly faster than rasterizer mode now.
• Align ambient lights as 0.05 in both rasterizer and raytracer modes. The brightness of images in the same light configuration should be the same.

Code Base

• Add a SegmentationManager helper class for both Rasterizer and BatchRender.
• Remove the usage of RigidSolver in gs-madrona, replaced with GeomRetriever helper class.
• Optimize the code structure of tool class FrameImageExporter in gs.utils.image_exporter.py. Now it accepts ndarray images.

Resolves #1632
Resolves #1648