Generalized Voronoi graph (any package?)

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hello,

I need to obtain a generalized Voronoi graph (GVG) from a grid map (like described here: http://www.sfbtr8.uni-bremen.de/project/r3/HGVG/hierarchicalVGraphs.html#Ref_2).

I have implemented my own node, but there still some tricks to solve and is not very efficient (i have used opencv libraries (cv::distanceTransform) but to obtain GVG from GVD there are lots of tricks).

Anyone knows any package that process the generalized Voronoi graph from the map?

Regards