From aa3e0564c0de3ef66cb6b240ff2b65ed3ed70aba Mon Sep 17 00:00:00 2001
From: SzabolcsGergely <szabi@luxonis.com>
Date: Mon, 27 Mar 2023 21:11:55 +0300
Subject: [PATCH] Add numInvalidateEdgePixels option

---
 .../depthai-shared/datatype/RawStereoDepthConfig.hpp   | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/include/depthai-shared/datatype/RawStereoDepthConfig.hpp b/include/depthai-shared/datatype/RawStereoDepthConfig.hpp
index b88c8987..2a7b6315 100644
--- a/include/depthai-shared/datatype/RawStereoDepthConfig.hpp
+++ b/include/depthai-shared/datatype/RawStereoDepthConfig.hpp
@@ -106,6 +106,13 @@ struct RawStereoDepthConfig : public RawBuffer {
          */
         tl::optional<float> centerAlignmentShiftFactor;
 
+        /**
+         * Invalidate X amount of pixels at the edge of disparity frame.
+         * For right and center alignment X pixels will be invalidated from the right edge,
+         * for left alignment from the left edge.
+         */
+        std::int32_t numInvalidateEdgePixels = 0;
+
         DEPTHAI_SERIALIZE(AlgorithmControl,
                           depthAlign,
                           depthUnit,
@@ -116,7 +123,8 @@ struct RawStereoDepthConfig : public RawBuffer {
                           leftRightCheckThreshold,
                           subpixelFractionalBits,
                           disparityShift,
-                          centerAlignmentShiftFactor);
+                          centerAlignmentShiftFactor,
+                          numInvalidateEdgePixels);
     };
 
     /**