Dear Stephane,

There are no plans to change ANN. We might however move completely to FLANN. Note that PCL has interfaces to both.

That being said, Marius (Muja - the author of FLANN) and I -- at least -- would be happy to talk to you offline about 
the kind of changes you're interested in.

Cheers,
Radu.

On 09/15/2010 12:43 AM, Stéphane Magnenat wrote:
> 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
>

-- 
| Radu Bogdan Rusu | http://rbrusu.com/