:optimal test NUC 27/7 15:14

include/robot_costmap_2d/observation.h

@@ -77,6 +77,10 @@ struct DepthFrustumConfig
   /// 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;
+  /// Same as clear_left_border_px but for the RIGHT edge, for cameras whose
+  /// stereo no-disparity strip sits on the right instead of the left. Measured
+  /// from the last image column inward. 0 disables.
+  unsigned int clear_right_border_px = 0;
 };
 
 class DepthCameraObservation

include/robot_costmap_2d/voxel_layer.h

@@ -126,7 +126,7 @@ private:
     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 in_left_border = false;  ///< column lies in the left no-disparity strip
+    bool in_border = false;       ///< column lies in a left/right no-disparity strip
   };
   std::vector<DepthColumnStat> depth_column_stats_;
   unsigned int unknown_threshold_, mark_threshold_, size_z_;