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Add Normal Distributions Transform (NDT) registration #7517

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131ebe5
Add Normal Distributions Transform registration
Xiang-Zeng Jul 13, 2026
c75cfb8
Merge branch 'main' into feature/ndt-registration
Xiang-Zeng Jul 20, 2026
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -46,6 +46,7 @@
- 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)
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1 change: 1 addition & 0 deletions cpp/open3d/Open3D.h.in
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Expand Up @@ -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"
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1 change: 1 addition & 0 deletions cpp/open3d/pipelines/CMakeLists.txt
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Expand Up @@ -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
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