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## 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