: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