I cannot release the code, yet. Here are the binaries compiled for the 64bit and 32bit linux (debian) architectures. 64 bit tgz, 32 bit tgz.
The code has been tested on linux (debian) platforms. (The Kdtree library inside has not been developed by me) Source code, test data.
A simple gdb python extension to interactively show openCV images while debugging with gdb. Description, Source code.