This project builds and defines the build2 package for nanoflann, a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees.

Usage

Make sure to add the stable section of the cppget.org repository to your project's repositories.manifest to be able to fetch the package.

:
role: prerequisite
location: https://pkg.cppget.org/1/stable
# trust: ...

If the stable section of cppget.org is not an option then add this Git repository itself instead as a prerequisite.

:
role: prerequisite
location: https://github.com/build2-packaging/nanoflann.git

Add the respective dependency in your project's manifest file to make the package available for import.

depends: nanoflann ^1.6.0

The library can be imported by the following declaration in a buildfile.

import nanoflann = nanoflann%lib{nanoflann}

Configuration

There are no configuration options available.

Issues

• FreeBSD, Clang, static, optimized: Error may occur during tests or installed tests:
  • ld: error: undefined symbol: pthread_create
  • It seems that pthread is not correctly linked in the examples.
• linux_debian_11-emcc_3.1.6 error (test):
  • em++ seems not to be able to compile gtest.
• Windows, MinGW, optimized: The kdtree.SO2_vs_bruteforce test may fail.

Contributing

Thank you in advance for your help and contribution to keep this package up-to-date. Please, file an issue on GitHub for questions, bug reports, or to recommend updating the package version. If you're making a pull request to fix bugs or update the package version yourself, refer to the build2 Packaging Guidelines.

nanoflann 1.6.0: Released Jul 11, 2024

• BUG FIX: nanoflann::SearchParameters::sorted was ignored for RadiusResultSet.
• ResultSet classes now must implement a sort() method.
• Added type IndexType to nanoflann:KDTreeBaseClass

nanoflann 1.5.5: Released Mar 12, 2024

• Potentially more efficient scheduling of multi-thread index building (PR #236)
• Bump minimum required cmake version to 3.5 (PR #230)

nanoflann 1.5.4: Released Jan 10, 2024

• Fix outdated NANOFLANN_VERSION macro in header file
• Fix poll-allocator alignment problems
• Add NANOFLANN_USE_SYSTEM_GTEST option
• Look for Threads dependency in CMake config script

nanoflann 1.5.3: Released Dec 7, 2023

• Other changes:
  • Save one redundant call to computeMinMax() in middleSplit_ (PR#220 by qq422216549). This saves a lot of time, up to 20% faster in a benchmark with small (thousands) point clouds.

nanoflann 1.5.2: Released Nov 29, 2023

• Other changes:
  • Improve RKNN search efficiency (PR#219 by kya8).

nanoflann 1.5.1: Released Nov 27, 2023

• API changes:
  • Add new search method rknnSearch() for knn searches with a maximum radius.
  • Add missing SearchParameters argument to KDTreeSingleIndexDynamicAdaptor_::knnSearch() (PR#213 by ManosPapadakis95).
  • Add missing method KNNResultSet::empty() for consistency with the other result sets.
• Other changes:
  • Add GUI examples for each search type:
    • nanoflann_gui_example_R3_knn
    • nanoflann_gui_example_R3_radius
    • nanoflann_gui_example_R3_rknn

nanoflann 1.5.0: Released Jun 16, 2023

• API changes:
  • Users of radius search should change their result placeholder type: std::vector<std::pair<IndexType, DistanceType>> => std::vector<nanoflann::ResultItem<IndexType, DistanceType>>. (See #166 for the motivation of this change).
  • More concise auxiliary (internal) type name: array_or_vector_selector -> array_or_vector.
  • Remove obsolete parameter nChecks_IGNORED. Removed from SearchParams constructor too, so that structure has been renamed SearchParameters to enforce users to update the code and avoid mistakes with the order of its ctor parameters.
  • Added method RadiusResultSet::empty()
  • Template argument rename: AccesorType => IndexType (does not actually affect user code at all).
  • Added concurrent tree building support, refer to KDTreeSingleIndexAdaptorParams::n_thread_build.
• Other changes:
  • Macros to avoid conflicts with X11 symbols.
  • Inline an auxiliary example function in case users want to use it and include the file in multiple translation units (Closes #182).
  • Move all benchmarking code, data, and scripts to its own repository to keep this repo as clean as possible.
  • Fix "potentially uninitialized" GCC warning.
  • Clarified, even more, in docs and examples, that L2 distances are squared distances.
  • Removed the (with modern compilers) now useless inline keyword in class members.
  • Add examples with GUI (requires mrpt-gui):
    • nanoflann_gui_example_R3: Radius search on R³ Euclidean space.
    • nanoflann_gui_example_bearings: NN search on non-Euclidean spaces.
• BUGFIXES:
  • Avoid segfault if saving an empty index (Closes #205).

nanoflann 1.4.3: Released Jul 24, 2022

• Added flag SkipInitialBuildIndex to allow not wasting time building a tree when it will be loaded from a file later on (PR #171).
• Mark all constructors explicit, to avoid unintended creation of temporary objects (Issue #179).
• BUGFIX: avoid potential index out of bounds in KDTreeSingleIndexDynamicAdaptor (PR #173)

nanoflann 1.4.2: Released Jan 11, 2022

• Install pkg-config .pc file under lib directory (Closes #161).
• Integrate AppVeyor CI.

nanoflann 1.4.1: Released Jan 6, 2022

• Fix incorrect install directory for cmake target & config files.
• Do not install example binaries with make install.
• Provide working examples for cmake and pkgconfig under examples/example_* directories.

nanoflann 1.4.0: Released Jan 2, 2022

• nanoflann::KDTreeSingleIndexAdaptor() ctor now forwards additional parameters to the metric class, enabling custom dynamic metrics.
• Add and apply a .clang-format file (same one than used in MOLAorg/MOLA projects).
• Examples: clean up and code modernization.
• CMake variables prefixed now with NANOFLANN_ for easier integration of nanoflann as a Git submodule.
• Fixes for IndexType which are not of integral types PR #154
• save/load API upgraded from C FILE* to C++ file streams (By Dominic Kempf, Heidelberg University, PR).

nanoflann 1.3.2: Released Nov 5, 2020

• Add optional argument for Eigen matrix layout commit.
• Throw exception on malloc failure PR #126.
• Respect GNUInstallDirs in CMake install rules PR #131.

nanoflann 1.3.1: Released Oct 11, 2019

• Fixed bug in KDTreeSingleIndexDynamicAdaptor. See: https://github.com/jlblancoc/nanoflann/commit/a066148517d16c173954dcde13c1527481b9fad3
• Fix build in XCode.
• Simplify CMakeLists for Eigen example (requires Eigen3Config.cmake now)
• Avoid setting cmake global executable build path

nanoflann 1.3.0: Released Aug 28, 2018

• Instructions for make install for Linux and Windows (Closes #87).
• Fix all (?) MSVC conversion warnings (Closes: #95).
• Avoid need for _USE_MATH_DEFINES in MSVC (Closes: #96)
• Eigen::Matrix datasets: now uses std::cref() to store a reference to matrix.
• GSOC2017 contributions by Pranjal Kumar Rai:
  • Support for dynamic datasets.
  • Support for non-Euclidean spaces: SO(2), SO(3)

nanoflann 1.2.3: Released Dec 20, 2016

• Fixed: split plane now correctly chooses the dimensions with the largest span. Should lead to more optimal trees.

nanoflann 1.2.2: Released Nov 10, 2016

• knnSearch() now also returns the number of valid points found.

nanoflann 1.2.1: Released Jun 1, 2016

• Fix potential compiler warnings if IndexType is signed.
• New unit tests comparing the results to those of brute force search.

nanoflann 1.2.0: Released May 5, 2016

• Fixed: many classes constructors get const ref arguments but stored const values.

nanoflann 1.1.9: Released Oct 2, 2015

• Added KDTreeSingleIndexAdaptor::radiusSearchCustomCallback() (Based on a suggestion by Yannick Morin-Rivest)
• Better documentation in class headers.
• Cleanup of unused code.
• Parameter KDTreeSingleIndexAdaptorParams::dim has been removed since it was redundant.

nanoflann 1.1.8: Released May 2, 2014

• Created hidden constructors in nanoflann class, to disallow unintentional copies which will corrupt the internal pointers.
• Fixed crash if trying to build an index of an empty dataset.

nanoflann 1.1.7: Released Aug 24, 2013

• Two internal containers are now automatically defined as fixed-size arrays if the problem dimension is known at compile time, improving efficiency. The new/modified datatypes are: KDTreeSingleIndexAdaptor::BoundingBox, KDTreeSingleIndexAdaptor::distance_vector_t
• Fixed compilation with GCC 4.8 and C++11 enabled (Thanks to Simon Praetorius).

nanoflann 1.1.6: Released May 14, 2013

• Fixed warnings about unused parameters.
• Fixed L1_adaptor.accum_dist(), which implemented L2 instead (Closes #1)
• Fixed wrong typedef in KDTreeEigenMatrixAdaptor<> for IndexType!=size_t (Closes: #2)

nanoflann 1.1.5: Released Mar 25, 2013

• Fixed: Memory pool wasn't freed after each call to buildIndex()
• GCC: Added -isystem flag to gtest headers to avoid pedantic warnings.

nanoflann 1.1.4: Released Jan 11, 2013

• Fixed compilation with Visual Studio 11 (MSVC 2012).
• Fixed compilation of gtest with VS11 and its _VARIADIC_MAX "bug".
• Added a security check to launch an exception if searches are attempted before buildIndex().
• New example to demonstrate save/load the index to files.
• save/load methods exposed as public.

nanoflann 1.1.3: Released Jun 6, 2012

• GTest sources are now embedded, due to the changes in newer Ubuntu packages which don't carry the precompiled libs.
• Added asserts to detect whether the user passes NULL as query points.
• New method RadiusResultSet::worst_item()
• New method RadiusResultSet::set_radius_and_clear()
• Avoid potential collision of min/max macros with <windows.h>
• Removed unneeded #include's of std headers.
• New sample code for vectors of vectors.
• Fixed building of tests for MSVC in Windows.
• Allow manually setting the path to Eigen3 (mainly for building examples under Windows).

nanoflann 1.1.2: Released May 2, 2012

• Better documentation and added graphs of a benchmarking for helping choosing "leaf_max_size".
• Now KDTreeSingleIndexAdaptor::buildIndex() can be called several times even when the dataset size changes (Thanks to Rob McDonald for reporting!)

nanoflann 1.1.1: Released Feb 1, 2012

• Some fixes to kd_tree index and L1/L2 metrics to allow distinct types in data elements and in the distances. This is mainly to permit elements being vectors of integers (e.g. uint8_t) but distances being real numbers.
• Examples and unit tests have been corrected to use template arguments instead of being hard-wired to "float" data types (Thanks Thomas Vincent for noticing!).

nanoflann 1.1.0: Released Dec 15, 2011

• Fixed warnings for MSVC and for GCC with "-Wall -pedantic"
• Updated performance tests to work with the final nanoflann code (they were written for a very early version).
• All main classes now have new template arguments for the type of indice, which now defaults to "size_t" instead of "int". In case this breaks backward compatibility in user code, especify "int" to override the default template arguments, although "size_t" it's recommended.

nanoflann 1.0.0: Released Aug 30, 2011

• Initial version