Theta * path planner in 2D grid map，and show path with OpenCV.
The implementation of the algorithm was checked out from: https://github.com/lapinozz/Lazy-Theta-with-optimization-any-angle-pathfinding
I rewrote some statements to fit vs 2013
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Theta * path planner in 2D grid map，and show path with OpenCV
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