diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 23e52bb0..842cd4ed 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,6 +1,5 @@
 set (sources
   BrownDistortionModel.cc
-  CameraSensorUtil.cc
   Distortion.cc
   EnvironmentalData.cc
   GaussianNoiseModel.cc
@@ -59,7 +58,7 @@ target_link_libraries(${rendering_target}
     gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
 )
 
-set(camera_sources CameraSensor.cc)
+set(camera_sources CameraSensor.cc CameraSensorUtil.cc)
 gz_add_component(camera
   SOURCES ${camera_sources}
   DEPENDS_ON_COMPONENTS rendering
@@ -76,7 +75,7 @@ target_link_libraries(${camera_target}
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
-set(depth_camera_sources DepthCameraSensor.cc)
+set(depth_camera_sources DepthCameraSensor.cc CameraSensorUtil.cc)
 gz_add_component(depth_camera
   SOURCES ${depth_camera_sources}
   DEPENDS_ON_COMPONENTS camera
@@ -165,7 +164,7 @@ gz_add_component(force_torque SOURCES ${force_torque_sources} GET_TARGET_NAME fo
 set(navsat_sources NavSatSensor.cc)
 gz_add_component(navsat SOURCES ${navsat_sources} GET_TARGET_NAME navsat_target)
 
-set(rgbd_camera_sources RgbdCameraSensor.cc)
+set(rgbd_camera_sources RgbdCameraSensor.cc CameraSensorUtil.cc)
 gz_add_component(rgbd_camera
   SOURCES ${rgbd_camera_sources}
   DEPENDS_ON_COMPONENTS camera
diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc
index 0b231067..36e5a040 100644
--- a/src/CameraSensor.cc
+++ b/src/CameraSensor.cc
@@ -259,7 +259,7 @@ bool CameraSensor::CreateCamera()
     double cx = cameraSdf->LensIntrinsicsCx();
     double cy = cameraSdf->LensIntrinsicsCy();
     double s = cameraSdf->LensIntrinsicsSkew();
-    auto projectionMatrix = buildProjectionMatrix(
+    auto projectionMatrix = gz::sensors::buildProjectionMatrix(
         this->dataPtr->camera->ImageWidth(),
         this->dataPtr->camera->ImageHeight(),
         fx, fy, cx, cy, s,
@@ -313,7 +313,7 @@ bool CameraSensor::CreateCamera()
     double cy = cameraSdf->LensProjectionCy();
     double s = 0;
 
-    auto projectionMatrix = buildProjectionMatrix(
+    auto projectionMatrix = gz::sensors::buildProjectionMatrix(
         this->dataPtr->camera->ImageWidth(),
         this->dataPtr->camera->ImageHeight(),
         fx, fy, cx, cy, s,
diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc
index 590bba79..49295bf3 100644
--- a/src/DepthCameraSensor.cc
+++ b/src/DepthCameraSensor.cc
@@ -405,7 +405,7 @@ bool DepthCameraSensor::CreateCamera()
     double cx = cameraSdf->LensIntrinsicsCx();
     double cy = cameraSdf->LensIntrinsicsCy();
     double s = cameraSdf->LensIntrinsicsSkew();
-    auto projectionMatrix = buildProjectionMatrix(
+    auto projectionMatrix = gz::sensors::buildProjectionMatrix(
         this->dataPtr->depthCamera->ImageWidth(),
         this->dataPtr->depthCamera->ImageHeight(), fx, fy, cx, cy, s,
         this->dataPtr->depthCamera->NearClipPlane(),
@@ -446,7 +446,7 @@ bool DepthCameraSensor::CreateCamera()
     double cy = cameraSdf->LensProjectionCy();
     double s = 0;
 
-    auto projectionMatrix = buildProjectionMatrix(
+    auto projectionMatrix = gz::sensors::buildProjectionMatrix(
         this->dataPtr->depthCamera->ImageWidth(),
         this->dataPtr->depthCamera->ImageHeight(),
         fx, fy, cx, cy, s,