52 std::vector<Segment>
calcSegments(cv::Mat &_map, cv::Mat &_distField, cv::Mat &_voronoiPath,
float * potential,
float _path_length,
float _optimizeCrossingPixels,
float _optimizeEndSegmentsPixel);
std::vector< Segment > calcSegments(cv::Mat &_map, cv::Mat &_distField, cv::Mat &_voronoiPath, float *potential, float _path_length, float _optimizeCrossingPixels, float _optimizeEndSegmentsPixel)
calculates the search graph