[//]: # ( ==== Logo ================================================== )



[//]: # ( ==== Title ================================================= ) # _libnabo_ [//]: # ( ==== Hyperlink ============================================= ) ^{NorLab TeamCity GUI (VPN/intranet access)   •   norlabulaval (Docker Hub)}  

[//]: # ( ==== Description =========================================== ) **libnabo is a fast K Nearest Neighbour library for low-dimensional spaces.**

[//]: # (====GitHub badges========================================================================)

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libnabo provides a clean, legacy-free, scalar-type–agnostic API thanks to C++ templates. Its current CPU implementation is strongly inspired by [ANN], but with more compact data types. On the average, libnabo is 5% to 20% faster than [ANN].

Dependencies:

• libnabo depends on [Eigen], a modern C++ matrix and linear-algebra library.
• libnabo works with either version 2 or 3 of Eigen.
• libnabo also optionally depends on [Boost], a C++ general library, for Python bindings.

Credit:

• libnabo was developed by Stéphane Magnenat as part of his work at ASL-ETH
• libnabo is now maintained by NorLab

If you are interested in a pure-Rust version, check that repository out.

Supported OS And Architecture

libnabo is tested on our build system under the following architecture and OS:

• x86 and arm64/v8
• Ubuntu bionic (18.04) and focal (20.04)

Note:

• libnabo reportedly works on MacOs OsX (latest) and Windows (latest)

★ Version 1.1.0 Release Note

This release of libnabo introduces the integration of norlab-build-system (NBS) as a git submodule for codebase development and testing.

Execute the following to clone the repository with its submodule:

git clone --recurse-submodules https://github.com/norlab-ulaval/libnabo.git

If libnabo was previously cloned, execute the following to fetch its new submodule

```bash git submodule update –remote –recursive –init

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Changelog for package libnabo

1.1.2 (2024-05-23)

• Merge pull request #137 from norlab-ulaval/github-action-api-docs Add a GitHub action to upload API documentation to a webpage
• CMake read libnabo version from package.xml, instead of the header of nabo.h
• Merge pull request #136 from norlab-ulaval/release Mod docker compose services for running with docker-container driver
• ci: update submodule to latest and mod service for docker-container driver
• ci: force norlab-teamcity-server release build configuration [skip release]
• Contributors: Luc Coupal, RedLeaderOne, boxanm

1.1.1 (2024-03-19)

• Update README.md
• Set minimum required CMake version to 3.10.2
• (origin/dev-feat-integrate-norlab-build-system-library-and-implement-linabo-build-system-NMO-405) style: renamed [.*test_compilation.*]{.title-ref} services and target to [.*integration_test.*]{.title-ref} for clarity.
• doc(readme): mute ubuntu jammy from supported OS version until libpointmatcher build pass on jammy
• ci: drop ubuntu jammy from build matrix
• doc: add missing norlab light logo
• doc: add missing norlab light logo
• doc: update header with dynamic logo, fix hyperlink, add dockerhub badge and fix relative link
• doc(pull_request_template.md): fix typo
• doc(readme): add norlab logo to header and improve intro
• test: add release crawler script bats test
• build: add release crawler script and .env file
• doc(readme): update header
• build: update repo version format
• doc: clean pr comment
• feat: integrate norlab-build-system library and implement linabo-build-system [NMO-405]
• build: Added norlab-shell-script-tools submodule to repository [NMO-405]
• build: Added norlab-build-system submodule to repository [NMO-405]
• chore: added a code owner designation file, a pull request template and a conventional commit reference file
• Update README.md
• Update README.md with cmake guide
• Use CMakePackageConfigHelpers to generate config files. Fill libnabo_INCLUDE_DIRS and libnabo_LIBRARIES variables.
• Fix Cmake Syntax invoked by Nabo's version regex. Updated min cmake version to 3.8
• more robust extraction of version
• Remove dependency on grep + Improve findstr command
• Use findstr instead of grep on Windows
• Date range and catch-all for authors
• Upgrade all syntax to package format 3
• format "3" specifier for condition flag
• Keep catkin for ROS1
• Create LICENSE file based on BSD license as per package.xml
• catkin not required for pure cmake packages
• Added link to Rust version.
• Replace TABS with SPACES
• Automaticaly find eigen3
• Fix install-space include directories
• fix missing eigen headers in python module
• add complete cmake exported-targets usage example
• option to disable doxygen; cmake clean up
• better handling of STATIC build option
• modernize cmake to have exported targets
• Make library git submodule-friendly

1.0.7 (2019-02-07)

• Disabled cmake compile tests by default and on compilers that do not support them (#95)
• Fix Python 2 bindings support in CMake scripts (#90)
• Port libnabo to c++11 (#89)
• Remove register keyword in index_heap.h (#88)
• Fix compilation warning for MSVC (#85)
• Assert template type for invalid setters (#80)
• Return numerically maximal index (unsigned) or -1 (signed) for no match case (#79)
• Add generate step for ${PROJECT_BINARY_DIR}/libnaboConfig.cmake (#76)
• Removed compiler-specific flags for compilers that do not support them (#74)
• Added cmake_policy(SET CMP0054 NEW) (#73)
• Output compiler message with compile test fatal error in cmake (#72)
• Removed erroneous commas from test/CMakeLists.txt (#71)
• Removed fatal "," suffix from FATAL_ERROR in CMakeLists.txt (#70)
• Fixed regression concerning installed libnaboConfig.cmake (#65)
• Fix/relax compiler requirements (#63)
• Removed hard dependency on the doc target (#62)
• Install any.hpp (#61)
• Remove boost::any and boost:format dependencies (#59)
• Port the python bindings to python3 (#57)
• Added cmake switch to disable usage of OpenMP (#53)

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