# PathEdges.msg — Lane/path edge detection result (Issue #339)
#
# All pixel coordinates are in the ROI frame:
#   origin = top-left of the bottom-half ROI crop
#   y=0 → roi_top of the full image; y increases downward; x increases rightward.
#
# Bird-eye coordinates are in the warped top-down perspective image.

std_msgs/Header header

# --- Raw Hough segments (ROI frame) ---
# Flat array of (x1, y1, x2, y2) tuples; length = 4 * line_count
float32[] segments_px

# Same segments warped to bird-eye view; length = 4 * line_count
float32[] segments_birdseye_px

# Number of Hough line segments detected
uint32 line_count

# --- Dominant left edge (ROI frame) ---
float32 left_x1
float32 left_y1
float32 left_x2
float32 left_y2
bool    left_detected

# --- Dominant left edge (bird-eye frame) ---
float32 left_birdseye_x1
float32 left_birdseye_y1
float32 left_birdseye_x2
float32 left_birdseye_y2

# --- Dominant right edge (ROI frame) ---
float32 right_x1
float32 right_y1
float32 right_x2
float32 right_y2
bool    right_detected

# --- Dominant right edge (bird-eye frame) ---
float32 right_birdseye_x1
float32 right_birdseye_y1
float32 right_birdseye_x2
float32 right_birdseye_y2

# y-offset of ROI in the full image (pixels from top)
uint32 roi_top
