Hello,

It seems that many people are using ANN, for finding nearest neighbor. 
For instance the ROS's pcl does so. However, albeit ANN is C++, it is 
not templatised on the scalar type and requires a recompilation for 
changing the latter, or for changing any other parameter, such as 
self-match inclusion/exclusion. Moreover, it does not provide caching 
(as proposed by [2]).

I would like to know if any of you is aware of an ongoing project to 
modernise ANN, for instance by templating over the scalar type. At some 
point, I might be interested to do so here at ASL, but I would like to 
avoid duplication and to allow a community-wide discussion before.

Thank you, kind regards,

Stéphane


[1] http://www.cs.umd.edu/~mount/ANN/
[2] http://plum.eecs.jacobs-university.de/download/3dim2007.pdf

-- 
Dr Stéphane Magnenat
http://stephane.magnenat.net