# PointingTarget.msg — 3-D pointing ray derived from hand landmarks + depth (Issue #221).
#
# Published on /saltybot/pointing_target at 5 Hz.
# Frame: camera_color_optical_frame (D435i colour stream).
#
# is_active is false when no 'point' gesture has been received recently.

std_msgs/Header header

int32   person_id          # from Gesture.msg (-1 = unidentified)
float32 confidence         # detection confidence from the source Gesture
bool    is_active          # true only when a recent 'point' gesture is present
string  coarse_direction   # Gesture.msg direction field: "left"/"right"/"up"/"forward"/"down"

# 3-D ray in camera_color_optical_frame (metres)
geometry_msgs/Point   origin      # INDEX_MCP (knuckle) position — ray origin
geometry_msgs/Vector3 direction   # unit vector from MCP toward INDEX_TIP

# Estimated pointing target
geometry_msgs/Point target        # origin + direction * range_m
float32             range_m       # distance along the ray (m)
