Disparity Graph

Maintains a sliding graph of keyframe disparity images and their camera poses for occupancy queries by disparity-based cost maps. A single disparity frame only covers the current camera view; keeping a rolling window of past (pose, expanded-disparity) keyframes gives the local planner spatial memory of obstacles the camera is no longer looking at.

Used by disparity_graph_cost_map, which serves collision costs to the DROAN local planner. Expanded disparity inputs come from disparity_expansion.

Contact: Andrew Jong

Docs TODO. Help appreciated.