Add Normal Distributions Transform registration

Author: Xiang-Zeng

CHANGELOG.md

@@ -44,6 +44,7 @@
 -   Fix macOS arm64 builds, add CI runner for macOS arm64 (PR #6695)
 -   Fix KDTreeFlann possibly using a dangling pointer instead of internal storage and simplified its members (PR #6734)
 -   Fix RANSAC early stop if no inliers in a specific iteration (PR #6789)
+-   Add 3D Normal Distributions Transform registration with C++ and Python APIs.
 -   Fix segmentation fault (infinite recursion) of DetectPlanarPatches if multiple points have same coordinates (PR #6794)
 -   `TriangleMesh`'s `+=` operator appends UVs regardless of the presence of existing features (PR #6728)
 -   Fix build with fmt v10.2.0 (#6783)

cpp/open3d/Open3D.h.in

@@ -63,6 +63,7 @@
 #include "open3d/pipelines/registration/Feature.h"
 #include "open3d/pipelines/registration/GeneralizedICP.h"
 #include "open3d/pipelines/registration/GlobalOptimization.h"
+#include "open3d/pipelines/registration/NormalDistributionsTransform.h"
 #include "open3d/pipelines/registration/Registration.h"
 #include "open3d/pipelines/registration/TransformationEstimation.h"
 #include "open3d/t/geometry/Geometry.h"

cpp/open3d/pipelines/CMakeLists.txt

@@ -24,6 +24,7 @@ target_sources(pipelines PRIVATE
     registration/Feature.cpp
     registration/GeneralizedICP.cpp
     registration/GlobalOptimization.cpp
+    registration/NormalDistributionsTransform.cpp
     registration/PoseGraph.cpp
     registration/Registration.cpp
     registration/RobustKernel.cpp