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fix(sdk): harden QR/Aruco APIs and detection wrappers#124

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JoDavidsson wants to merge 1 commit intoaukilabs:mainfrom
JoDavidsson:codex/posemesh-sdk-bugfixes
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fix(sdk): harden QR/Aruco APIs and detection wrappers#124
JoDavidsson wants to merge 1 commit intoaukilabs:mainfrom
JoDavidsson:codex/posemesh-sdk-bugfixes

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@JoDavidsson
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Summary

This PR fixes multiple reliability and memory-safety issues in Posemesh SDK QR/Aruco detection and C/Web wrappers.

Fixes

  • Fix C API heap corruption risk in landmark-observation buffer allocation/layout.
  • Fix invalid sentinel loop in ArUco free path.
  • Fix WASM vector leaks in Web QR/Aruco landmark-observation wrappers.
  • Add QR detection robustness fallback from multi decode to single decode.
  • Add output-size consistency guards before observation corner indexing.
  • Harden portal short-id extraction to match case-insensitive prefix search behavior.
  • Add null/edge-case handling in C wrappers (Config, PoseEstimation, CalibrationHelpers, QR/Aruco).

Validation

  • Ran SDK code generation in sdk/gentool.
  • Ran clang++ -fsyntax-only checks on modified C/C++ wrapper files.
  • Ran node --check on modified Web JS bindings.

Notes

  • This PR intentionally contains only bug fixes (no new calibration feature work).

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@robinlindh
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Thanks!

I'll have to try this out, but will be on hold for a bit until I keep updating the scanner & calibration logic later on.

Cheers!

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3 participants