# ObstacleSize.msg — Depth-projected LIDAR cluster size estimate (Issue #348)
#
# Fuses a 2-D LIDAR cluster with the D435i depth image to estimate the full
# 3-D size (width × height) of each detected obstacle.
#
# obstacle_id : matches the obstacle_id in ObstacleVelocity (same LIDAR cluster)
# centroid_x  : LIDAR-frame forward distance to centroid (metres)
# centroid_y  : LIDAR-frame lateral distance to centroid (metres, +Y = left)
# depth_z     : sampled D435i depth at projected centroid (metres, 0 = unknown)
# width_m     : horizontal size from LIDAR bbox (metres)
# height_m    : vertical size from D435i depth strip (metres, 0 = unknown)
# pixel_u     : projected centroid column in depth image (pixels)
# pixel_v     : projected centroid row    in depth image (pixels)
# lidar_range : range from LIDAR origin to centroid (metres)
# confidence  : 0.0–1.0; based on depth sample quality and cluster track age
#
std_msgs/Header header
uint32  obstacle_id
float32 centroid_x
float32 centroid_y
float32 depth_z
float32 width_m
float32 height_m
int32   pixel_u
int32   pixel_v
float32 lidar_range
float32 confidence
