:optimal 27/7 12:11

include/robot_costmap_2d/observation.h

@@ -70,6 +70,13 @@ struct DepthFrustumConfig
   /// Full columns are only cleared beyond this distance [m]. Negative:
   /// derive each frame from the camera intrinsics and mounting pose.
   double column_cover_distance = -1.0;
+  /// Depth-image columns at the LEFT edge excluded from clearing [px]. Covers
+  /// the stereo no-disparity strip that is permanently invalid there: those
+  /// pixels carry no free-space evidence, so clearing through them erases
+  /// obstacles that rotate out of the FOV on that side. Set to the measured
+  /// width of the black strip in the raw depth image (a few px margin). 0
+  /// disables. Invalid pixels ELSEWHERE still clear (needed for ghost removal).
+  unsigned int clear_left_border_px = 0;
 };
 
 class DepthCameraObservation

include/robot_costmap_2d/voxel_layer.h

@@ -99,12 +99,6 @@ private:
                             double* min_x, double* min_y, double* max_x, double* max_y);
   bool readDepthMeters(const robot_sensor_msgs::Image& depth, unsigned int u, unsigned int v,
                        double& depth_m, bool& is_valid) const;
-  /// True when the invalid pixel at (u, v) is an isolated hole surrounded by
-  /// valid returns (a flying pixel, safe to clear), false when it belongs to a
-  /// structurally invalid region such as the stereo no-disparity strip on the
-  /// left image edge (no free-space evidence, must be left untouched).
-  bool invalidPixelIsIsolated(const robot_sensor_msgs::Image& depth,
-                              unsigned int u, unsigned int v) const;
   void updateDepthRayCache(unsigned int width, unsigned int height, unsigned int pixel_step,
                            double fx, double fy, double cx, double cy);
   bool clipRaytraceEndpoint(double ox, double oy, double oz, double& wx, double& wy, double& wz);
@@ -131,8 +125,7 @@ private:
     double min_band_dist = -1.0;  ///< horizontal distance of nearest in-band return; < 0 = none
     double azimuth = 0.0;         ///< beam direction in the global frame
     double best_row_delta = std::numeric_limits<double>::infinity();
-    bool has_ray = false;            ///< column had at least one readable pixel
-    bool has_valid_return = false;   ///< column had at least one valid depth measurement
+    bool has_ray = false;         ///< column had at least one readable pixel
   };
   std::vector<DepthColumnStat> depth_column_stats_;
   unsigned int unknown_threshold_, mark_threshold_, size_z_;