Merge pull request #219 from kya8/master

Improve RKNN search efficiency
jlblancoc · Nov 29, 2023 · 5f0ffa5 · 5f0ffa5
2 parents d09c4c7 + 1301aea
commit 5f0ffa5
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,3 +1,7 @@
+nanoflann 1.5.2: UNRELEASED
+ * **Other changes**:
+   - Improve RKNN search efficiency ([PR#219](https://github.com/jlblancoc/nanoflann/pull/219) by [kya8](https://github.com/kya8)).
+
 nanoflann 1.5.1: Released Nov 27, 2023
  * **API changes:**
    - Add new search method `rknnSearch()` for knn searches with a maximum radius.

diff --git a/include/nanoflann.hpp b/include/nanoflann.hpp
@@ -273,7 +273,7 @@ class RKNNResultSet
         dists   = dists_;
         count   = 0;
         if (capacity)
-            dists[capacity - 1] = (std::numeric_limits<DistanceType>::max)();
+            dists[capacity - 1] = maximumSearchDistanceSquared;
     }
 
     CountType size() const { return count; }
@@ -287,8 +287,6 @@ class RKNNResultSet
      */
     bool addPoint(DistanceType dist, IndexType index)
     {
-        if (dist > maximumSearchDistanceSquared) return true;
-
         CountType i;
         for (i = count; i > 0; --i)
         {