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refactor(sdk): simplify the 0.36.0 surfaces (stacked on #202) - #203
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… helper The ImageAnnotations codec writes colours through builtin_wire::writeColor and normalizedToByte instead of byte-identical local copies; the local decoder stays, because annotation colours default alpha to 1 and skip unknown fields. create() and createV2() share detail::collectResolvedTopics for the count-then-fill retry. Drop the no-op reserved = 0 after value initialisation, and note that snapshot v2 is a full deep copy to acquire when the catalog may have changed, not per tick. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
…med pixel datatypes - detail::assignPayloadBytes<T> replaces four identical buffer_assign lambdas (PointCloud, Image, DepthImage, VideoFrame). - Every FieldTable<T>::fields array deduces its size: a hand-counted N with too few initialisers left trailing descriptors with null accessors. - Image and DepthImage pixel layouts name PointField::Datatype and derive the byte size from bytesPerElement instead of the magic tags 2, 4 and 7. - PinholeIntrinsics::fromK validates K once, so a per-pixel loop checks only its own inputs; unprojectPixel stays as the one-pixel form. - field_table.hpp says list elements are addressable one by one, so a binder reads list_at lazily instead of materialising the list per access. - The unprojectPixel test moves inside the PJ namespace with its include at the top, and covers PinholeIntrinsics. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
snapshot(false) after snapshot() left pj_snapshot set although the comment promised the incremental default. It now removes the key. The key's comment also called it a "field table" stream, a name taken by FieldTable<T> in the same release; it is a snapshot stream. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
field_table_test compares serialized bytes through expectSameWireBytes instead of nine copies of the same five lines. plugin_catalog_test builds its manifests with manifestWith(key, value) on one minimal manifest constant. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
…act text - CHANGELOG 0.36.0 lists what changed since 0.35.0. Entries narrating the unreleased line's own history (a rename, a struct that "grew", text the previous draft "would have" broken) are gone, and so is the contradiction between the 64-handle / 64 MiB numbers and "host policy". The Host contract line is unchanged. - The toolbox guide no longer states those limits as numbers, and says createV2 serves every kind. - LIFETIME no longer says "exactly one of three" before listing four: a pinned node can also be history-exempt. - The capability rule keeps one statement (plugin_data_api.h) and the guide's table; ARCHITECTURE.md and the plugin skill point to them. - Fix the stale skill note that the annotations codec drops image_topic and the timestamp, the reference to a buffer<>() factory that does not exist, and the hand-kept list of tabled types (describe() is the list). - Note that a zero ImageAnnotations timestamp reads as absent, that an empty scene_view kind clears the view, and add the new helpers to sdk-utilities. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This was referenced Oct 10, 2026
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Stacked on #202: it targets
feat/derived-objects-sdk-integration, notmain. These are the cleanups from a simplify pass (reuse, simplification, efficiency and altitude) over the 0.36.0 diff. No C ABI, vtable, flag, enum or wire-format change. The decisions that would change the contract are listed in a comment on #202, not made here.Changes
image_annotations_codec.cppwrites colours withbuiltin_wire::writeColor/normalizedToByteinstead of byte-identical local copies. The local decoder stays: annotation colours default alpha to 1 and skip unknown fields.create()andcreateV2()sharedetail::collectResolvedTopics.reserved = 0after{}.detail::assignPayloadBytes<T>replaces four identicalbuffer_assignlambdas.FieldTable<T>::fieldsarrays deduce their size. With a hand-countedN, too few initialisers silently left descriptors with null accessors.PointField::DatatypeandbytesPerElementinstead of the magic tags 2, 4 and 7.PinholeIntrinsics::fromK()validatesKonce;unprojectPixelstays as the one-pixel form. PJ4'sdepth_opscurrently re-validatesKfor every pixel at playback rate.ObjectTopicMetadataBuilder::snapshot(false)now clears the key. It was a no-op, although its comment said otherwise.expectSameWireBytes(it was copied 9 times) and amanifestWith(key, value)manifest helper.unprojectPixeltest moved inside the namespace and now coversPinholeIntrinsics.Host contract:line is untouched, andcheck_feature_floors.pyis OK.buffer<>(), and the hand-kept list of tabled types.sdk-utilities.md.Test plan
./build.sh: clean./test.sh: 98/98 passpre-commit runon the changed files (clang-format 22.1.0): cleantools/feature_floors/check_feature_floors.py: OK (126 surfaces)main, so this PR gets no CI while it targets the feat(sdk): host surfaces for derived objects and builtin field tables (0.36.0) #202 branchConsumers are source-compatible. The one removed symbol,
detail::depthImageBytesPerPixel(nowdetail::depthImageDatatype), is used nowhere in PJ4 or the plugins.🤖 Generated with Claude Code