diff --git a/py-flann/Makefile b/py-flann/Makefile
index 474aa7dc012c3a9dc41858543a703e21f6da8783..7259714b088d16813a44a776f259fae6138d8834 100644
--- a/py-flann/Makefile
+++ b/py-flann/Makefile
@@ -2,27 +2,28 @@
# Created: Nizar Sallem on Tue, 28 Dec 2010
#
-VERSION= 1.6.11
-PKGNAME= ${PKGTAG.python-}-flann-${VERSION}
-DISTNAME= flann-${VERSION}-src
-EXTRACT_SUFX= .zip
-CATEGORIES= math
+VERSION= 1.7.1
+DISTNAME= flann-${VERSION}-src
+PKGNAME= ${PKGTAG.python}-flann-${VERSION}
MASTER_SITES= http://www.cs.ubc.ca/~mariusm/uploads/FLANN/
+EXTRACT_SUFX= .zip
+CATEGORIES= graphics
+COMMENT= Fast approximate nearest neighbor search for high dimension
MAINTAINER= openrobots@laas.fr
HOMEPAGE= http://www.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN
-COMMENT= Python bindings for flann
LICENSE= 2-clause-bsd
+CMAKE_ARGS+= -DBUILD_MATLAB_BINDINGS=OFF
+CMAKE_ARGS+= -DBUILD_PYTHON_BINDINGS=ON
+CMAKE_ARGS+= -DUSE_MPI=OFF
+CMAKE_ARGS+= -DBUILD_CUDA_LIB=OFF
+CMAKE_ARGS+= -DBUILD_C_BINDINGS=OFF
+CMAKE_ARGS+= -DPYTHON_SITELIB=${PYTHON_SITELIB}
-#option for c bindings generation
-CMAKE_ARGS+= -DBUILD_C_BINDINGS=OFF
-CMAKE_ARGS+= -DBUILD_MATLAB_BINDINGS=OFF
-CMAKE_ARGS+= -DPYTHON_SITELIB=${PYTHON_SITELIB}
+include ../../graphics/flann/depend.mk
include ../../mk/sysdep/python.mk
-include ../../wip/flann/depend.mk
-include ../../mk/sysdep/latex.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/language/c.mk
include ../../mk/language/c++.mk
diff --git a/py-flann/PLIST b/py-flann/PLIST
index e198c8138b4319bfbb21ff46e676289f970b3f76..fe6f5cb7cd547a29c43941803f5e845f84cfe078 100644
--- a/py-flann/PLIST
+++ b/py-flann/PLIST
@@ -1,26 +1,40 @@
-@comment Wed Jul 20 14:14:22 CEST 2011
-${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/exceptions${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/index${PYTHON_TAG}.pyc
+@comment Tue Mar 12 14:17:29 CET 2013
${PYTHON_SITELIB}/pyflann/__init__.py
-${PYTHON_SITELIB}/pyflann/bindings/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/bindings/${PYTHON_PYCACHE}/flann_ctypes${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/bindings/__init__.py
+${PYTHON_SITELIB}/pyflann/bindings/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/bindings/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/bindings/flann_ctypes.py
-${PYTHON_SITELIB}/pyflann/bindings/test.txt
+${PYTHON_SITELIB}/pyflann/bindings/${PYTHON_PYCACHE}/flann_ctypes${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/bindings/${PYTHON_PYCACHE}/flann_ctypes${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/exceptions.py
+${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/exceptions${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/exceptions${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/index.py
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/binary_dataset${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/dat_dataset${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/dataset${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/hdf5_dataset${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/npy_dataset${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/index${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/index${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/io/__init__.py
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/io/binary_dataset.py
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/binary_dataset${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/binary_dataset${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/io/dat_dataset.py
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/dat_dataset${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/dat_dataset${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/io/dataset.py
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/dataset${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/dataset${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/io/hdf5_dataset.py
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/hdf5_dataset${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/hdf5_dataset${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/io/npy_dataset.py
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/npy_dataset${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/npy_dataset${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/util/__init__.py
+${PYTHON_SITELIB}/pyflann/util/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/util/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/pyflann/util/weave_tools.py
+${PYTHON_SITELIB}/pyflann/util/${PYTHON_PYCACHE}/weave_tools${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/pyflann/util/${PYTHON_PYCACHE}/weave_tools${PYTHON_TAG}.pyo
diff --git a/py-flann/distinfo b/py-flann/distinfo
index b699e18145305835e7a9a3ed7429399bd9e12d7b..05ba1c26ed03dbea254dd76aa7178aaf3e572935 100644
--- a/py-flann/distinfo
+++ b/py-flann/distinfo
@@ -1,5 +1,5 @@
-SHA1 (flann-1.6.11-src.zip) = cecb709299f1cf16c9f6202e648d6d7ee2b12f8a
-RMD160 (flann-1.6.11-src.zip) = 52263c560f71d0ce1fc4f6c63c19bfc2f789c7ea
-Size (flann-1.6.11-src.zip) = 500128 bytes
-SHA1 (patch-aa) = 49c75d7c9e19663e5b36e097633a6baa753e8a38
+SHA1 (flann-1.7.1-src.zip) = 61b9858620528919ea60a2a4b085ccc2b3c2d138
+RMD160 (flann-1.7.1-src.zip) = cec1ce99d2c91ddf8f20d5aa8009a08c5347b904
+Size (flann-1.7.1-src.zip) = 582517 bytes
+SHA1 (patch-aa) = 11feeab66768072b4761cda5aa3c63ff85f73e67
SHA1 (patch-ab) = 83a9b0c9ea815e5d69b3e96fc5056f7c5caa532b
diff --git a/py-flann/patches/patch-aa b/py-flann/patches/patch-aa
index 142b695475a3ecdbadfb7582b6a7ddea0d66bf16..78f9bc13a0cbeb96ee2a6be9ba6828cbbe3bb253 100644
--- a/py-flann/patches/patch-aa
+++ b/py-flann/patches/patch-aa
@@ -1,22 +1,21 @@
-diff -ru CMakeLists.txt CMakeLists.txt
---- CMakeLists.txt 2011-07-20 13:32:34.259315161 +0100
-+++ CMakeLists.txt 2011-07-20 13:34:15.583817611 +0100
-@@ -43,10 +43,10 @@
- option(USE_MPI "Use MPI" OFF)
+--- CMakeLists.txt.orig 2011-12-23 12:16:09.000000000 +0100
++++ CMakeLists.txt 2013-03-12 14:16:34.920354953 +0100
+@@ -47,10 +47,10 @@
+ set(NVCC_COMPILER_BINDIR "" CACHE PATH "Directory where nvcc should look for C++ compiler. This is passed to nvcc through the --compiler-bindir option.")
-if (NOT BUILD_C_BINDINGS)
- set(BUILD_PYTHON_BINDINGS OFF)
- set(BUILD_MATLAB_BINDINGS OFF)
-endif()
-+# if (NOT BUILD_C_BINDINGS)
-+# set(BUILD_PYTHON_BINDINGS OFF)
-+# set(BUILD_MATLAB_BINDINGS OFF)
-+# endif()
++#if (NOT BUILD_C_BINDINGS)
++# set(BUILD_PYTHON_BINDINGS OFF)
++# set(BUILD_MATLAB_BINDINGS OFF)
++#endif()
# find python
-@@ -103,11 +103,11 @@
+@@ -141,11 +141,11 @@
add_definitions( "-Wall" )
endif(WIN32)
@@ -32,20 +31,3 @@ diff -ru CMakeLists.txt CMakeLists.txt
# CPACK options
-diff -ru src/CMakeLists.txt src/CMakeLists.txt
---- src/CMakeLists.txt 2011-07-20 13:32:34.267315202 +0100
-+++ src/CMakeLists.txt 2011-07-20 13:34:13.811808817 +0100
-@@ -1,9 +1,9 @@
-
--add_subdirectory( cpp )
-+#add_subdirectory( cpp )
-
--if (BUILD_MATLAB_BINDINGS)
-- add_subdirectory( matlab )
--endif()
-+# if (BUILD_MATLAB_BINDINGS)
-+# add_subdirectory( matlab )
-+# endif()
-
- if (BUILD_PYTHON_BINDINGS)
- add_subdirectory( python )