I've just finished a run through FE: Fates (I chose birthright, so no playable Camilla) and the things you've pictured are in the accessory shop, an entirely optional part of the game (It's in the "My Castle" hub/rest area you go to in between chapters; even then, you have to spend building points to build it in the first place). That wasn't my thing so I didn't really play around with it, but if you choose to, then the option is there. If you don't want to look at the characters in their swimwear, then the game definitely doesn't force you to.
On Camilla: She and her character as a whole is much less sexualised than female characters in a lot of other games. Her voice is rather... lusty, however. That'll probably be changed in the English version though. Likewise, I wouldn't be surprised if there was a bit of censorship and they covered up her boobs a bit like they did for Tharja in Awakening.







