• Merge pull request #322 from jlblancoc/fix/planesplit-build-regression
  Fix single-thread build regression: restore two-pass partition in planeSplit()
• Restore two-pass Hoare partition in planeSplit()
  The one-pass three-way partition introduced in 1.9.0 swaps almost every
  element it visits, while the previous two-pass scheme only swaps misplaced
  pairs (about 7x fewer swaps on LiDAR data). This made the single-thread
  KD-tree build 9-12% slower than in 1.8.0.
  The two-pass version is restored over half-open ranges, so it stays safe
  for unsigned Offset types, and keeps comparing coordinates in DistanceType.
  Results are unchanged. A new test exercises heavy ties on the split planes,
  where all three partition regions are populated.
• fix test warnings for ignored return values
• Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

• Add compile-time product-manifold metrics (SO2, SO3, SE2, SE3, S^N, tori and products) for exact non-Euclidean nearest-neighbor search (C++17, opt out with NANOFLANN_NO_MANIFOLDS). Supported by the static and the incremental KD-trees.
• Tighter block-level pruning bound for SO(3), up to ~28x faster queries on rotation-heavy data.
• Add NANOFLANN_INCREMENTAL_NO_FREELIST (ablation-only) switch.
• Breaking: remove the legacy SO2_Adaptor / SO3_Adaptor metrics, superseded by Manifold_Adaptor. SO(2) and SO(3) now require C++17; C++11 users needing the old metrics should stay on nanoflann 1.x.
• Honor NANOFLANN_NODE_ALIGNMENT > 16 in the node array before C++17 and in PooledAllocator (#321).
• Robustness and performance: reject corrupt vector sizes in load_value(), cheaper post-deletion rebalancing in the incremental index, radius results sorted once in the dynamic adaptor.
• KDTreeEigenMatrixAdaptor now owns its index via std::unique_ptr.
• New examples (SE3, S2, incremental Euclidean and manifold) and tests (Eigen adaptor, radius boundary, incremental manifolds); CI matrix for the compile-time macros.
• Docs: README and Doxygen refresh, clarify that chord_sq_to_angle returns an arc angle.
• Remove dead Travis CI files; add a release helper script.
• Contributors: Jose Luis Blanco-Claraco

• Store kd-tree nodes in one contiguous std::vector instead of pointer-linked
  allocations, shrinking Node and speeding up kNN queries and builds
  (#319).
• Gather split coordinates once into a scratch array reused across builds,
  avoiding a second pass over the dataset in middleSplit_().
• Release node memory in freeIndex() and cap the node reservation at 2N.
• loadIndex() now validates the loaded node array and rejects corrupt files.
• Concurrent build: splice only the subtrees actually built by a task,
  avoiding unnecessary memmoves.
• Prefetch the right child while descending the tree, improving kNN
  query speed.
• CI Linux: do not upgrade runner packages before installing build tools
  (#320).
• Contributors: Jose Luis Blanco-Claraco, Luca Bartoli

• Merge pull request #318 from spyridon97/improve-build-multithreading
  Rewrite nanoflann's concurrent index build
  At 16 threads, index build time drops ~3.5x on uniform data
  (79ms -> 23ms) and ~3.8x on clustered data (108ms -> 29ms).
• Merge pull request #317 from jschueller/mtune
  CMake: Check for mtune=native flag
  For some archs like ppc64 this is not always available
• Merge pull request #315 from jlblancoc/fix/unsigned-elementtype-crash
  Fix crash and wrong results with unsigned ElementType (alternative to #314)
• fix: compute all coordinate differences in DistanceType
• Contributors: Jose Luis Blanco-Claraco, Julien Schueller, Spiros Tsalikis

• docs: badges updates to use nanoflann_vendor
• Merge pull request #313 from jlblancoc/chore/rename-ros-package-to-nanoflann-vendor
  chore(ros): rename the ROS package to nanoflann_vendor
  Only the ROS package name changes. The CMake package name comes from the
  CMake project, so find_package(nanoflann) keeps working unchanged.
• Contributors: Jose Luis Blanco-Claraco

• Merge pull request #312 from jlblancoc/feat/automate-release-script
  automate release to ensure consistency
• automate release to ensure consistency
• fix: stop asserting exact NN index in bruteforce comparison tests
  Two points can be equidistant (or within float rounding) from a query;
  nanoflann does not guarantee a tie-break order unless
  NANOFLANN_FIRST_MATCH is defined, so comparing indices makes these
  tests flaky whenever a near-tie occurs. Checking the returned distance
  against the brute-force minimum already fully validates correctness.
• Merge pull request #311 from jlblancoc/fix-potential-ram-run
  fix: ensure background rebuild spans one single thread
• address review
• fix: ensure background rebuild spans one single thread
• Merge pull request #310 from jlblancoc/feat/install-examples-option
  Add opt-in NANOFLANN_INSTALL_EXAMPLES option
• Add opt-in NANOFLANN_INSTALL_EXAMPLES option
  Lets users who need the example binaries installed opt in via CMake,
  without changing default behavior for the header-only library.
• Contributors: Jose Luis Blanco-Claraco

What's Changed

• refactor: unit tests into smaller files by @jlblancoc in #303

Full Changelog: v1.10.0...1.10.1

What's Changed

• Fix an invalid read. by @drwells in #282
• Fix divideTree assertion failure with KDTreeSingleIndexDynamicAdaptor removePoint/addPoints by @nh2 in #283
• Fix duplicate-entry growth on removePoint/addPoints re-add cycles by @jlblancoc in #285
• Fix loadIndex reading past EOF for empty indices (#286) by @jlblancoc in #287
• fix flaky kdtree.L1_vs_bruteforce_rknn test by @jschueller in #288
• Fix KDTreeSingleIndexDynamicAdaptor_ saveIndex/loadIndex infinite recursion by @jlblancoc in #290
• Remove dead worst_dist branch from L1/L2_Adaptor::evalMetric by @jlblancoc in #291
• Fix three type/correctness bugs (operator=, First0Bit, findWithinBox) by @jlblancoc in #292
• Polish docs warnings attrs by @jlblancoc in #293
• Efficiency: remove middleSplit_ heap alloc (§6.2) + else-if in computeInitialDistances (§6.7) by @jlblancoc in #294
• saveIndex/loadIndex: add magic+version+type-size header, throw on mismatch by @jlblancoc in #295
• CI: extend tested C++ standards, and increase warning levels by @jlblancoc in #296
• Deduplicate addPoint, computeBoundingBox, and searchLevel by @jlblancoc in #297
• Minor internal cleanups: allocateBytes, has_flag(), noexcept by @jlblancoc in #298
• Centralize DIM dispatch in veclen() with if constexpr; widen nodiscard by @jlblancoc in #299
• Refactor tree builders and harden Eigen adaptor ownership by @jlblancoc in #300
• Hoist point-length computation out of search inner loops by @jlblancoc in #301
• Incremental self-balancing dynamic k-d tree index (sync + multithreaded) by @jlblancoc in #302

New Contributors

• @drwells made their first contribution in #282
• @nh2 made their first contribution in #283

Full Changelog: v1.9.0...v1.10.0

What's Changed

• fix: respect SearchParameters::sorted in dynamic index radius search by @LeonardEyer in #276
• Optimizations of L1 & L2 distance functors and miscellaneous improvements by @mlourakis in #277
• Performance optimizations suggested by Claude.ai by @jlblancoc in #279
• Update clang-format style: 100 columns, and forbid one-line braces by @jlblancoc in #281

New Contributors

• @LeonardEyer made their first contribution in #276
• @mlourakis made their first contribution in #277

Full Changelog: v1.8.0...v1.9.0

What's Changed

• Additional comments about indexing phase, no functional change by @nigels-com in #259
• github workflows: Migrate Ubuntu 20.04 (focal) build coverage to 24.04 (noble) by @nigels-com in #261
• do not write to stderr by @szhorvat in #263
• fix: use size_t as the default IndexType in metric adaptor classes by @szhorvat in #266
• Fix typo in member variable name by @jlblancoc in #268
• nanoflann: faster check in searchLevel by @lucabart97 in #270
• feat: implement findWithinBox by @algol83 in #272
• Feat/add code cov by @jlblancoc in #273

New Contributors

• @lucabart97 made their first contribution in #270
• @algol83 made their first contribution in #272

Full Changelog: v1.7.1...v1.8.0