chore(version): v19.7.0

[janickm]

Release commit for v19.7.0, generated with cog --config .cog.toml bump --auto and then given
its hand-written ### Highlights section, matching how v19.6.0 was prepared.

Why a minor, not a patch

Four of the eight commits since v19.6.0 are feat(...), and cog bump --auto independently
resolves to v19.7.0. A patch number would under-report the release: it adds
ParaxialPinholeGeometry, register_camera_model_parameters, register_lidar_model_parameters,
three exported abstract lidar bases, and a new requirement on concrete parameter subclasses. A
consumer pinned >=19.6.0,<19.7 would otherwise pick all of that up silently.

Contents

.bazelrc	embed_label 19.6.0 -> 19.7.0, which is what the published wheel version follows
CHANGELOG.md	generated entry plus the hand-written highlights

What consumers should know

• No serialized format changed. Both decoders still read the identifier that encode_* already
  wrote from type(), including payloads using the retired pinhole identifier, and untagged
  external distortion payloads. This was verified across versions: a payload encoded by the
  published 19.6.0 wheel decodes under this tree to the same class and the same values.
• Reader APIs are typed against the abstract bases. Callers of decode_* and of the
  model_parameters accessors now receive the abstract base and may need an isinstance narrow
  before reading a model-specific field. Measured against the two largest internal consumers: no new
  type errors in either.
• Concrete parameter subclasses must implement type, and camera ones
  paraxial_pinhole_geometry. Every model in this repository does, and no out-of-tree model exists
  yet, which is why the requirement is being stated now rather than defaulted.

Verification

• bazel test //ncore/... //tools/... with --nocache_test_results: 34/34 pass on the release
  tree
• bazel run //:format.check clean; the ty lint aspect passes on every target
• embed_label confirmed at 19.7.0, which the wheel version derives from

Tagging is handled by the GitHub release / CI, per .cog.toml's post_bump_hooks, so no tag is
pushed here.

🤖 Generated with Claude Code