Avoid modifying input pixel coordinates in-place

[astrofrog]

As highlighted in #16244, modifying input pixel arrays in the WCSLIB C wrapper is not thread-safe. There are two possible solutions:

• Option 1 Avoid modifying the input pixel arrays in-place, and instead copy the wcsprm, offset crpix, and then use that for the conversion. This has the added benefit that we also avoid modifying the wcsprm in-place to change NaN values to WCSLIB's UNDEFINED and back, which also has the risk of causing issues in a multi-threaded context (for instance if one thread changes UNDEFINED back to NaN while another thread is relying on the values being UNDEFINED).
• Option 2 Always make sure a copy is made of the pixel coordinates in the WCS Python API before passing them to e.g. wcs.wcs.p2s. Currently if one calls wcs_pixel2world with (x, y, 0), a copy is made anyway to stack x and y. But in the case where it is called with (xy, 0), a copy is not made if the data is contiguous and of floating-point type. We could check for this case and force a copy.
• Option 3 Force a copy when we parse the Numpy array into the C extension in this line:

  pixcrd = (PyArrayObject*)PyArray_ContiguousFromAny(pixcrd_obj, NPY_DOUBLE, 2, 2);

we could change this line to use PyArray_FromArray and pass a flag to force a copy, always.

Option 1 is this PR, although there are other places where this needs to be fixed, but I am waiting to see if we go with this option. It does mean copying the wcsprm but this should have a small memory footprint.

Option 2 is not really optimal because (a) users might call the astropy.wcs.Wcsprm methods directly in which case the unsafe behavior will continue, and (b) because it is nice to have a way to call the conversion routines which does

Option 3 should be safe and would require the fewest changes in lines of code, though it would increase memory usage, and would in particular result in unnecessary copies in some cases.

Performance-wise, Option 1 doesn't seem to be worse than the current code in main - we do require a copy of wcsprm but on the other hand we are not offsetting pixel coordinates. I'll be sure to add some benchmarks to astropy-benchmarks now though.

Anyway at this point, let's discuss if we like Option 1, and if so I can extend it to other parts of wcslib_wrap.c.

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[astrofrog]

Adding WCS benchmarks here: astropy/astropy-benchmarks#118