## Description
Added paranoia checks to satisfy @Gold872
## Meta
Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with settings back to v2024.3.1
- [x] If this PR addresses a bug, a regression test for it is added
## Description
instead of using camera calibration, the CasADi problem formulation now
expect the caller to provide "normalized pixel coordinates". This
reduces the number of floating point operations we need to perform (and
reduces total LOC by 6%). `casadi_wrapper.cpp` now converts from (u, v)
coordinates to normalized (x'', y'') coordinates with:
x'' = (u - c_x) / f_x
y'' = (u - c_y) / f_y
Which is the inverse of this (from [opencv
docs](https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html), and
assuming no distortion):
In my testing, this is ~16% faster on my x86 laptop. Would love some rio
benchmarks.
## Meta
Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_
- [~] If this PR changes behavior or adds a feature, user documentation
is updated
- [~] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [~] If this PR touches configuration, this is backwards compatible
with settings back to v2024.3.1
- [~] If this PR addresses a bug, a regression test for it is added
Allows logging software and live data view to see results. Also removes the requirement for AScope to keep up with the packet serde schema and instead just use the Protobuf descriptor.
Follows a similar system to the current Protobuf implementation that helps make code more readable and expandable. Also wraps the NT topic to be more useful. Impl stuff is hidden so it can't be extended. Optimizes AT-specific classes by only serializing data when needed, won't save on size but will on time.
closes#1003
* add classes to targeting and update gradle
* rename me
* Finish cleanup
* Formatting fixes
* just use common.gradle
* Update build.gradle
* Update config.gradle
* remove typo
* simplify
* Add Packet Headers
* move simulation classes into simulation folder
* draw in dependency
* fix
* Everything working minus tests cause im lazy
* formatting fixes
REMEMBER TO REMOVE UNUSED IMPORTS, IM JUST TOO LAZY TO CHECK RN
* move packet test to targeting
* Formatting fixes
* remove TargetCorner from c++
im not 100% sure but just doing std::pair<double, double> is sufficient and shouldnt conflict with protobuf
* think i added packet
* fix namespace issue
* organize imports in photon-targeting
* Formatting fixes
* remove ctors
* fix typo
* Add PNP and Multitag packet tests
* revert TargetCorner class
* Add Test placeholders
* remove annoying print
* Reorganize build and publish process
channeling inner Thad
* add targeting as flag
* Update config.gradle
* fix issue with platform binaries not building
* Update photonlib.json.in
casing still needs to be checked
* add minimum level back
* add back UTF-8 encoding of javadoc
* simplify publish model for photon-lib
* fix windows symbol generation
* formatting fixes
* move task from main gradle to config
* Update config.gradle
* Make MultiTagPNPResult and PNPResult singular
* add java tests
* Formatting fixes
* bring in the rest of the little stuff
* final things
* Formatting fixes
* add multisubscriber back
* Formatting fixes
* make comments better about x and y relationship
