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Add DCReg registration method (degenercy handling) #7482

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Add DCReg registration method (degenercy handling) #7482

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67b35d7
Add DCReg registration estimator
JokerJohn Apr 26, 2026
39fe627
Update changelog for DCReg
JokerJohn Apr 26, 2026
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3 changes: 3 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
@@ -1,4 +1,7 @@
## Main
- Add degeneracy-aware DCReg registration APIs for legacy CPU ICP, including
`TransformationEstimationPointToPlaneDCReg`, degeneracy diagnostic helpers,
and a standalone-compatible local-plane ICP helper.
- Upgrade stdgpu third-party library to commit d7c07d0.
- Fix performance for non-contiguous NumPy array conversion in pybind vector converters. This change removes restrictive `py::array::c_style` flags and adds a runtime contiguity check, improving Pandas-to-Open3D conversion speed by up to ~50×. (issue #5250)(PR #7343).
- Corrected documentation for Link Open3D in C++ projects (broken links).
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1 change: 1 addition & 0 deletions cpp/open3d/pipelines/CMakeLists.txt
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Expand Up @@ -20,6 +20,7 @@ target_sources(pipelines PRIVATE
target_sources(pipelines PRIVATE
registration/ColoredICP.cpp
registration/CorrespondenceChecker.cpp
registration/DCReg.cpp
registration/FastGlobalRegistration.cpp
registration/Feature.cpp
registration/GeneralizedICP.cpp
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