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  • Add shared-device Vulkan Gaussian-splat rendering and update Filament integration for offscreen and interactive rendering.
  • Reduce the installed size of the Open3D wheel: Open3D-ML Python dependencies are now an optional extra (pip install open3d[ml], ~335 MB smaller for core-only installs) and open3d.ml submodules are imported lazily. BUNDLE_OPEN3D_ML now defaults to ON when ML ops are built and OPEN3D_ML_ROOT is set, and Windows wheels bundle Open3D-ML too (PR #7540).
  • Add symmetric ICP registration to the legacy and Tensor pipelines (PR #7276).
  • Replace OpenMP with oneAPI TBB for all CPU parallelism; Open3D no longer depends on OpenMP. This removes the libomp / libgomp runtime dependency and the thread oversubscription and crashes caused by loading multiple OpenMP runtimes in one process (e.g. alongside PyTorch in Python). The WITH_OPENMP CMake option is removed, oneTBB >= 2021.4.0 is required, and OMP_NUM_THREADS is replaced by open3d.utility.set_max_threads() (C++: utility::SetMaxThreads() or a tbb::task_arena). utility::OMPProgressBar is removed in favor of the thread-safe utility::ProgressBar; utility::GetThreadNum() and utility::InParallel() are removed (PR #6626) (issues #6196, #6544, #6750)
  • Add point cloud smoothing algorithms: Moving Least Squares (MLS), Laplacian, Taubin, and bilateral smoothing. These methods provide flexible noise reduction for point clouds with different preservation characteristics (PR #7419).
  • Add vcpkg support for easier dependency management (PR #7386)
  • Exposed advanced parameters (full_depth, samples_per_node, point_weight) for Poisson surface reconstruction in TriangleMesh.create_from_point_cloud_poisson (PR #7430) (issue #7248)
  • Add SYCL tensor backends for HashMap, nearest-neighbor search (KNN, fixed-radius, hybrid), geometry transforms, and registration / odometry / feature pipelines (parity with CUDA paths where applicable).
  • Fix Gaussian Splat rendering on Vulkan by disabling view MSAA before binding a render target with sampleable depth (issue #7495).
  • Add SYCL ML ops: continuous convolution and sparse convolution (forward/transpose/backprop-filter, sycl-tla GEMM-accelerated), voxelize, voxel pooling, invert neighbors list, reduce-subarrays-sum, and ragged-to-dense, plus contrib NMS, RoI pool, ball query, IoU (BEV + 3D), trilinear devoxelize, and three-interpolate, all exposed via the PyTorch XPU op library.
  • Hybrid nearest-neighbor search on SYCL now supports the L1 and Linf metrics (previously L2-only), matching fixed-radius search and CUDA.
  • Convolution ops' allow_tf32 acceleration on SYCL requires channel counts and leading dimensions to be divisible by 4; falls back to IEEE float32 with a one-time warning otherwise. See docs/sycl.rst.
  • Document a RoI-pool point-selection divergence between the SYCL and CPU/CUDA backends when more than sampled_pts_num points fall inside a box (both are valid samples; downstream counts and pooled_empty_flag remain identical). See docs/sycl.rst.
  • Add compressed SPZ file I/O for tensor-based Gaussian splats, with zstd dependency integration, round-trip tests, and notebook samples.
  • Fix system zstd propagation to the nested SPZ build so its headers and library are installed correctly.
  • Add Windows shared-library CUDA and SYCL Python wheels (open3d-cuda, open3d-xpu) built against the installed devel package; ship NVIDIA CUDA 12.6 runtime pip dependencies (python/requirements_win_cuda.txt) since CUDA is linked dynamically on Windows
  • Fix WebRTC prebuilt packaging and CI workflow across Linux, macOS arm64, and Windows runtime variants (PR #7515)
  • Add CorrespondenceCheckerBasedOnSourceRotation to constrain global orientation priors in RANSAC registration (PR #7461)
  • Use glfwGetMonitorWorkarea for accurate screen size in GetScreenSize, remove unusable_height estimation hack, and subtract window-decoration extents before clamping auto-sized windows (PR #7469)
  • 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).
  • Fix DLLs not being found in Python-package. Also prevent PATH from being searched for DLLs, except CUDA (PR #7108)
  • Fix MSAA sample count not being copied when FilamentView is copied
  • Fix TriangleMesh::SamplePointsUniformly and TriangleMesh::SamplePointsPoissonDisk now sampling colors from mesh if available (PR #6842)
  • Fix TriangleMesh::SamplePointsUniformly not sampling triangle meshes uniformly (PR #6653)
  • Fix tensor based TSDF integration example.
  • Use GLIBCXX_USE_CXX11_ABI=ON by default
  • Python 3.9 support. Tensorflow bump 2.4.1 -> 2.5.0. PyTorch bump 1.7.1 -> 1.8.1 (LTS)
  • Fix undefined names: docstr and VisibleDeprecationWarning (PR #3844)
  • Corrected documentation for Tensor based PointClound, LineSet, TriangleMesh (PR #4685)
  • Corrected documentation for KDTree (typo in Notebook) (PR #4744)
  • Corrected documentation for visualisation tutorial
  • Remove setuptools and wheel from requirements for end users (PR #5020)
  • Fix various typos (PR #5070)
  • Exposed more functionality in SLAM and odometry pipelines
  • Fix for depth estimation for VoxelBlockGrid
  • Reserve fragment buffer for VoxelBlockGrid operations
  • Fix raycasting scene: Allow setting of number of threads that are used for building a raycasting scene
  • Fix Python bindings for CUDA device synchronization, voxel grid saving (PR #5425)
  • Support msgpack versions without cmake
  • Changed TriangleMesh to store materials in a list so they can be accessed by the material index (PR #5938)
  • Support multi-threading in the RayCastingScene function to commit scene (PR #6051).
  • Fix some bad triangle generation in TriangleMesh::SimplifyQuadricDecimation
  • Fix printing of tensor in gpu and add validation check for bounds of axis-aligned bounding box (PR #6444)
  • Python 3.11 support. bump pybind11 v2.6.2 -> v2.11.1
  • Check for support of CUDA Memory Pools at runtime (#4679)
  • Fix toString, CreateFromPoints methods and improve docs in AxisAlignedBoundingBox. 🐛📝
  • Migrate Open3d documentation to furo theme ✨ (#6470)
  • Expose Near Clip + Far Clip parameters to setup_camera in OffscreenRenderer (#6520)
  • Add Doppler ICP in tensor registration pipeline (PR #5237)
  • Rename master branch to main.
  • Support in memory loading of XYZ files
  • Fix geometry picker Error when LineSet objects are presented (PR #6499)
  • Fix mis-configured application .desktop link for the Open3D viewer when installing to a custom path (PR #6599)
  • Fix regression in printing cuda tensor from PR #6444 🐛
  • Add Python pathlib support for file IO (PR #6619)
  • Fix log error message for probability argument validation in PointCloud::SegmentPlane (PR #6622)
  • 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 (PR #7517).
  • 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)
  • Fix segmentation fault (lambda reference capture) of VisualizerWithCustomAnimation::Play (PR #6804)
  • Python 3.12 support
  • Add O3DVisualizer API to enable collapse control of verts in the side panel (PR #6865)
  • Split pybind declarations/definitions to avoid C++ types in Python docs (PR #6869)
  • Fix minimal oriented bounding box of MeshBase derived classes and add new unit tests (PR #6898)
  • Fix projection of point cloud to Depth/RGBD image if no position attribute is provided (PR #6880)
  • Add choice of voxel pooling mode when creating VoxelGrid from PointCloud (PR #6937)
  • Support lowercase types when reading PCD files (PR #6930)
  • Fix visualization/draw ICP example and add warnings (PR #6933)
  • Unified cloud initializer pipeline for ICP (fixes segfault colored ICP) (PR #6942)
  • Fix tensor EstimatePointWiseNormalsWithFastEigen3x3 (PR #6980)
  • Fix alpha shape reconstruction if alpha too small for point scale (PR #6998)
  • Fix render to depth image on Apple Retina displays (PR #7001)
  • Fix infinite loop in segment_plane if num_points < ransac_n (PR #7032)
  • Add select_by_index method to Feature class (PR #7039)
  • Add optional indices arg for fast computation of a small subset of FPFH features (PR #7118).
  • Fix CMake configuration summary incorrectly reporting no for system BLAS. (PR #7230)
  • Add error handling for insufficient correspondences in AdvancedMatching (PR #7234)
  • Exposed get_plotly_fig and modified draw_plotly to return the Figure it creates. (PR #7258)
  • Fix build with librealsense v2.44.0 and upcoming VS 2022 17.13 (PR #7074)
  • Fix deprecated-declarations warnings when compiling code with C++20 standard (PR #7303)
  • Fix thread safety of UniformTSDFVolume::ExtractVoxelGrid (PR #7315)
  • Fix advanced indexing bug with sliced boolean masks on CUDA devices (PR #7340)
  • Fix logic for adding -allow-unsupported-compiler to nvcc (PR #7337)
  • Fix linker error "library limit of 65535 objects exceeded" with Ninja generator on MSVC (PR #7335)
  • Add assertion guard for invalid indexing operations (PR #7360)
  • Implement CUDA multipass for KNN > GPU_MAX_SELECTION_K (PR #7381)
  • Download tarballs instead of Git repos for "3rdparty/uvatlas" (PR #7371)
  • macOS x86_64 not longer supported, only macOS arm64 is supported.
  • Python 3.13+3.14 support
  • Fix color artifacts in PointCloud projection due to CUDA race condition (PR #7424)
  • Sync the bundled CUTLASS license with v4.2.1 (PR #7542).
  • Fix Windows build failure for PyTorch ops due to PyTorch's bundled fmt (v11+) requiring /utf-8 with MSVC (PR #7447)
  • Fix TriangleMesh::SamplePointsPoissonDisk performance by incrementally updating neighbor weights instead of recomputing them with additional KD-tree queries (issue #7449)
  • Add GetMenu for MenuBase for easy menu item/submenu control. (PR #7295)

0.13

0.12

  • RealSense SDK v2 integrated for reading RS bag files (PR #2646)
  • Tensor based RGBDImage class, Python bindings for Image and RGBDImage
  • RealSense sensor configuration, live capture and recording (with example and tutorial) (PR #2748)
  • Add mouselook for the legacy visualizer (PR #2551)
  • Add function to randomly downsample pointcloud (PR #3050)
  • Allow TriangleMesh with textures to be added (PR #3170)
  • Python property of open3d.visualization.rendering.Open3DScene get_view has been renamed to view.
  • Added LineSet::CreateCameraVisualization() for creating a simple camera visualization from intrinsic and extrinsic matrices (PR #3255)

0.11

  • Fixes bug for preloading libc++ and libc++abi in Python
  • Added GUI widgets and model-viewing app
  • Fixes travis for race-condition on macOS
  • Fixes appveyor configuration and to build all branches
  • Updated travis.yml to support Ubuntu 18.04, gcc-7, and clang-7.0
  • Contributors guidelines updated
  • Avoid cstdlib random generators in ransac registration, use C++11 random instead.
  • Fixed a bug in open3d::geometry::TriangleMesh::ClusterConnectedTriangles.
  • Added option BUILD_BENCHMARKS for building microbenchmarks
  • Extend Python API of UniformTSDFVolume to allow setting the origin
  • Corrected documentation of PointCloud.h
  • Added ISS Keypoint Detector
  • Added an RPC interface for external visualizers running in a separate process
  • Added maximum_error and boundary_weight parameter to simplify_quadric_decimation
  • Remove support for Python 3.5
  • Development wheels are available for user testing. See Getting Started page for installation.
  • PointCloud File IO support for new tensor data types.
  • New PointCloud format support: XYZI (ASCII).
  • Fast compression mode for PNG writing. (Issue #846)
  • Ubuntu 20.04 (Focal) support.
  • Added Line3D/Ray3D/Segment3D classes with plane, point, closest-distance, and AABB tests
  • Updated Open3D.h.in to add certain missing header files
  • Add Open3D-ML to Open3D wheel
  • Fix a bug in PointCloud file format, use float instead of float_t
  • Add per-point covariance member for geometry::PointCloud class.
  • Add Generalized ICP implementation.

0.9.0

  • Version bump to 0.9.0