:optimal

include/robot_costmap_2d/voxel_layer.h

@@ -99,6 +99,12 @@ 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);
@@ -125,7 +131,8 @@ 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_ray = false;            ///< column had at least one readable pixel
+    bool has_valid_return = false;   ///< column had at least one valid depth measurement
   };
   std::vector<DepthColumnStat> depth_column_stats_;
   unsigned int unknown_threshold_, mark_threshold_, size_z_;