dijkstra_map(score_map, UINT16_MAX-1);
dir_to_nearest_target = get_dir_from_neighbors(filter,t_eye,score_map);
free(score_map);
dijkstra_map(score_map, UINT16_MAX-1);
dir_to_nearest_target = get_dir_from_neighbors(filter,t_eye,score_map);
free(score_map);