Disparity Graph Cost Map

A cost map plugin backed by a disparity graph: it answers "what is the collision cost of this 3D point?" by projecting the query point into the expanded disparity keyframes stored in the graph. The DROAN local planner loads it via its cost_map parameter (disparity_graph_cost_map::DisparityGraphCostMap) to score candidate trajectories.

Contact: Andrew Jong

Docs TODO. Help appreciated.