Merge plotjuggler/main into internal_main (sync 2026-06-10)

Brings:
- 9003e55 feat(dialog): WidgetData setListItemColors / listItemColors (#119)
- 0c3aa51 chore: bump version to 0.7.0
- 5ee9eee feat(pj_plugins): expose DataSourceHandle::libraryOwner() (#116)
- a90a969 feat(pj_base)!: carry frame_id through canonical Image schema (#117)

Author: pabloinigoblasco

CMakeLists.txt

@@ -111,7 +111,7 @@ endif()
 if(PJ_INSTALL_SDK)
   include(CMakePackageConfigHelpers)
 
-  set(PJ_PACKAGE_VERSION "0.6.0")
+  set(PJ_PACKAGE_VERSION "0.7.0")
   set(PJ_PACKAGE_CMAKE_DIR ${CMAKE_INSTALL_LIBDIR}/cmake/plotjuggler_sdk)
 
   install(EXPORT plotjuggler_sdkTargets

conanfile.py

@@ -6,7 +6,7 @@
   plugin_sdk   — umbrella for plugin authors (base + dialog SDK + parser SDK)
   plugin_host  — umbrella for host loaders (data_source/parser/toolbox/dialog)
 
-A consuming Conan recipe declares e.g. `plotjuggler_sdk/0.6.0` and then:
+A consuming Conan recipe declares e.g. `plotjuggler_sdk/0.7.0` and then:
 
     find_package(plotjuggler_sdk REQUIRED COMPONENTS plugin_sdk)
     target_link_libraries(my_plugin PRIVATE plotjuggler_sdk::plugin_sdk)
@@ -30,7 +30,7 @@
 
 class PlotjugglerSdkConan(ConanFile):
     name = "plotjuggler_sdk"
-    version = "0.6.0"
+    version = "0.7.0"
     # Apache-2.0 covers the whole SDK (pj_base + pj_plugins). See LICENSE.
     license = "Apache-2.0"
     url = "https://github.com/PlotJuggler/plotjuggler_sdk"

docs/builtin_type.md

@@ -150,6 +150,7 @@ messages.
 | `anchor` | `BufferAnchor` | Keeps `data` alive when it references shared storage. |
 | `compressed_depth_min` | `std::optional<float>` | ROS compressed-depth quantization metadata, when present. |
 | `compressed_depth_max` | `std::optional<float>` | ROS compressed-depth quantization metadata, when present. |
+| `frame_id` | `std::string` | Source coordinate frame (ROS `sensor_msgs/Image` and `foxglove.CompressedImage` both carry it). Lets a consumer match the image to the `CameraInfo` of the same `frame_id` (calibration / native resolution), e.g. to rectify lens distortion so 2D annotations align with the image. Empty when the producer has no frame information. |
 
 Common raw encodings are `rgb8`, `rgba8`, `bgr8`, `bgra8`, `mono8`, and
 `mono16`. Common compressed encodings are `jpeg`, `png`, and `qoi`.

pj_base/include/pj_base/builtin/image.hpp

@@ -150,6 +150,13 @@ struct Image {
   std::optional<float> compressed_depth_max;
 
   Timestamp timestamp_ns = 0;
+
+  /// Source coordinate frame (ROS sensor_msgs/Image and foxglove.CompressedImage
+  /// both carry it). Lets a consumer match the image to the CameraInfo of the same
+  /// frame_id (calibration / native resolution), e.g. to rectify lens distortion so
+  /// 2D annotations align with the image. Empty when the producer has no frame
+  /// information.
+  std::string frame_id;
 };
 
 }  // namespace sdk

pj_base/proto/pj/Image.proto

@@ -57,4 +57,9 @@ message Image {
   // ROS compressedDepth quantization maximum; set together with `compressed_depth_min` when `encoding ==
   // "compressedDepth"`.
   optional float compressed_depth_max = 9;
+
+  // Source coordinate frame (ROS sensor_msgs/Image, foxglove.CompressedImage). Lets a consumer match the image to the
+  // CameraInfo of the same frame_id (calibration / native resolution), e.g. to rectify lens distortion so 2D
+  // annotations align with the image. Empty when the producer has no frame information.
+  string frame_id = 10;
 }

pj_base/src/builtin/image_codec.cpp

@@ -53,6 +53,7 @@ std::vector<uint8_t> serializeImage(const Image& image) {
   if (image.compressed_depth_max.has_value()) {
     writer.floatField(9, *image.compressed_depth_max);
   }
+  writer.string(10, image.frame_id);
 
   return out;
 }
@@ -139,6 +140,8 @@ Expected<sdk::Image> deserializeImage(const uint8_t* data, size_t size) {
         image.compressed_depth_max = v;
         return true;
       }
+      case 10:
+        return tag.type == WireType::kLengthDelimited && r.readString(image.frame_id);
       default:
         return false;
     }

pj_base/tests/image_codec_test.cpp

@@ -33,6 +33,7 @@ TEST(ImageCodecTest, RoundTripRawRGB8) {
   in.encoding = "rgb8";
   in.row_step = 6;  // 2 px * 3 bytes
   in.is_bigendian = false;
+  in.frame_id = "camera_front";
   const std::vector<uint8_t> pixels = {255, 0, 0, 0, 255, 0, 0, 0, 255, 128, 128, 128};
   in.data = Span<const uint8_t>(pixels.data(), pixels.size());
 
@@ -45,6 +46,7 @@ TEST(ImageCodecTest, RoundTripRawRGB8) {
   EXPECT_EQ(out->encoding, in.encoding);
   EXPECT_EQ(out->row_step, in.row_step);
   EXPECT_FALSE(out->is_bigendian);
+  EXPECT_EQ(out->frame_id, "camera_front");
   EXPECT_FALSE(out->compressed_depth_min.has_value());
   EXPECT_FALSE(out->compressed_depth_max.has_value());
   ASSERT_EQ(out->data.size(), pixels.size());
@@ -70,6 +72,7 @@ TEST(ImageCodecTest, RoundTripCompressedDepthWithRange) {
   ASSERT_TRUE(out->compressed_depth_max.has_value());
   EXPECT_FLOAT_EQ(*out->compressed_depth_min, 0.5f);
   EXPECT_FLOAT_EQ(*out->compressed_depth_max, 10.0f);
+  EXPECT_TRUE(out->frame_id.empty());  // unset frame_id round-trips as empty
 }
 
 }  // namespace

pj_plugins/CLAUDE.md

@@ -35,9 +35,11 @@ submodule-internal modules; `pj_base` carries none).
   only `MessageParserPluginBase` + `object_ingest_policy.hpp` live here under
   `pj_plugins/sdk/`. (The `docs/ARCHITECTURE.md` §2 diagram is stale on this.)
 - **Handles keep the DSO mapped.** Every handle holds a `shared_ptr<void>`
-  library token, so destroying/hot-reloading the loader cannot `dlclose` a live
-  plugin. Dialog handles add a non-owning `borrowed()` form for source/toolbox
-  embedded dialogs — those must not outlive the owning handle.
+  library token (exposed via `libraryOwner()`), so destroying/hot-reloading the
+  loader cannot `dlclose` a live plugin — and a lazy ObjectStore payload anchor,
+  whose `release` fn is plugin code, can capture that token to stay safe past the
+  handle's own lifetime. Dialog handles add a non-owning `borrowed()` form for
+  source/toolbox embedded dialogs — those must not outlive the owning handle.
 
 ## Read deeper
 | For | Read |

pj_plugins/dialog_protocol/include/pj_plugins/host/widget_data_view.hpp

@@ -75,6 +75,9 @@ class WidgetDataView {
   [[nodiscard]] std::optional<std::vector<std::string>> selectedItems(std::string_view name) const {
     return getStringArray(name, "selected_items");
   }
+  [[nodiscard]] std::optional<std::vector<std::string>> listItemColors(std::string_view name) const {
+    return getStringArray(name, "list_item_colors");
+  }
 
   // --- QTableWidget ---
   [[nodiscard]] std::optional<std::vector<std::string>> tableHeaders(std::string_view name) const {

pj_plugins/dialog_protocol/include/pj_plugins/sdk/widget_data.hpp

@@ -93,6 +93,14 @@ class WidgetData {
     return *this;
   }
 
+  // Set foreground colors for QListWidget items, parallel to the items vector
+  // set by setListItems. Each entry is a CSS color string (e.g. "#ff0000") or
+  // empty to use the default palette color. Size must match the items vector.
+  WidgetData& setListItemColors(std::string_view name, const std::vector<std::string>& colors) {
+    entry(name)["list_item_colors"] = colors;
+    return *this;
+  }
+
   // --- QTableWidget ---
   WidgetData& setTableHeaders(std::string_view name, const std::vector<std::string>& headers) {
     entry(name)["headers"] = headers;