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Add a part of the new rigid registration method [FRICP] #6199

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fix bug in clang-tidy again

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Add a part of the new rigid registration method [FRICP] #6199

fix bug in clang-tidy again
ee430dc
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Azure Pipelines / Build (Build GCC Ubuntu 24.04 GCC) succeeded Nov 19, 2025 in 1h 21m 31s

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