diff --git a/environment.yml b/environment.yml
index 4fc136a5..6c748ff9 100644
--- a/environment.yml
+++ b/environment.yml
@@ -1,4 +1,4 @@
-name: happypose_torch2
+#name: happypose_torch2
 channels:
    - conda-forge
    - pytorch
diff --git a/happypose/pose_estimators/megapose/docker/Dockerfile.megapose b/happypose/pose_estimators/megapose/docker/Dockerfile.megapose
index f5d5d38e..ef2a89ec 100644
--- a/happypose/pose_estimators/megapose/docker/Dockerfile.megapose
+++ b/happypose/pose_estimators/megapose/docker/Dockerfile.megapose
@@ -56,7 +56,7 @@ RUN source $CONDA_DIR/bin/activate && \
   pip install selenium omegaconf simplejson line_profiler opencv-python \
   torchnet tqdm lxml transforms3d panda3d joblib xarray pandas xarray matplotlib \
   bokeh plyfile trimesh wget ipdb panda3d-gltf colorama pyyaml ipykernel \
-  scipy pypng h5py seaborn kornia meshcat pyarrow dt_apriltags open3d structlog \
+  scipy pypng h5py seaborn kornia meshcat pyarrow dt_apriltags structlog \
   imageio
 
 # Blender
@@ -132,7 +132,6 @@ RUN apt-get install -y tmux
 # Install TEASER++
 RUN apt install -y cmake libeigen3-dev libboost-all-dev \
   && source $CONDA_DIR/bin/activate \
-  && pip install open3d \
   && mkdir /build && cd /build && git clone https://github.com/MIT-SPARK/TEASER-plusplus.git \
   && cd TEASER-plusplus && mkdir build && cd build \
   && cmake -DTEASERPP_PYTHON_VERSION=3.9 .. && make teaserpp_python \
diff --git a/happypose/pose_estimators/megapose/inference/refiner_utils.py b/happypose/pose_estimators/megapose/inference/refiner_utils.py
index 60527d4c..f71b8225 100644
--- a/happypose/pose_estimators/megapose/inference/refiner_utils.py
+++ b/happypose/pose_estimators/megapose/inference/refiner_utils.py
@@ -15,13 +15,6 @@
 
 # Third Party
 import numpy as np
-import open3d as o3d
-
-
-def numpy_to_open3d(xyz):
-    pcd = o3d.geometry.PointCloud()
-    pcd.points = o3d.utility.Vector3dVector(xyz)
-    return pcd
 
 
 def compute_masks(mask_type, depth_rendered, depth_measured, depth_delta_thresh=0.1):
diff --git a/happypose/pose_estimators/megapose/inference/teaserpp_refiner.py b/happypose/pose_estimators/megapose/inference/teaserpp_refiner.py
index 2c8a00a9..42eb437a 100644
--- a/happypose/pose_estimators/megapose/inference/teaserpp_refiner.py
+++ b/happypose/pose_estimators/megapose/inference/teaserpp_refiner.py
@@ -27,10 +27,10 @@
 from happypose.pose_estimators.megapose.inference.depth_refiner import DepthRefiner
 from happypose.pose_estimators.megapose.inference.refiner_utils import (
     compute_masks,
-    numpy_to_open3d,
 )
 from happypose.pose_estimators.megapose.inference.types import PoseEstimatesType
 from happypose.toolbox.lib3d.rigid_mesh_database import BatchedMeshes
+from happypose.toolbox.lib3d.transform_ops import transform_pts_np
 from happypose.toolbox.renderer.panda3d_batch_renderer import Panda3dBatchRenderer
 from happypose.toolbox.renderer.types import Panda3dLightData
 from happypose.toolbox.visualization.meshcat_utils import get_pointcloud
@@ -137,16 +137,11 @@ def compute_teaserpp_refinement(
 
     solution = solver.getSolution()
 
-    T = np.eye(4)
-    T[:3, :3] = solution.rotation
-    T[:3, 3] = solution.translation
-    T_tgt_src = T
-
-    # check number of inliers
-    pc_src_o3d = numpy_to_open3d(pc_src)
-    pc_src_o3d_refined = pc_src_o3d.transform(T_tgt_src)
-    pc_src_refined = np.array(pc_src_o3d_refined.points)
+    T_tgt_src = np.eye(4)
+    T_tgt_src[:3, :3] = solution.rotation
+    T_tgt_src[:3, 3] = solution.translation
 
+    pc_src_refined = transform_pts_np(T_tgt_src, pc_src)
     diff = np.linalg.norm(pc_src_refined - pc_tgt, axis=-1)
     inliers = np.count_nonzero(diff < solver_params.noise_bound)
 
@@ -158,8 +153,8 @@ def compute_teaserpp_refinement(
         "pc_tgt": pc_tgt,
         "pc_src_mask": pc_src_mask,
         "pc_tgt_mask": pc_tgt_mask,
-        "T": T,
-        "T_tgt_src": T,  # transform that aligns src to tgt
+        "T": T_tgt_src,
+        "T_tgt_src": T_tgt_src,  # transform that aligns src to tgt
         "num_inliers": inliers,
     }
 
diff --git a/happypose/toolbox/lib3d/transform_ops.py b/happypose/toolbox/lib3d/transform_ops.py
index e6bcba0d..361862fe 100644
--- a/happypose/toolbox/lib3d/transform_ops.py
+++ b/happypose/toolbox/lib3d/transform_ops.py
@@ -18,6 +18,7 @@
 
 # Third Party
 import numpy as np
+import numpy.typing as npt
 import torch
 import transforms3d
 
@@ -25,6 +26,20 @@
 from happypose.toolbox.lib3d.rotations import compute_rotation_matrix_from_ortho6d
 
 
+def transform_pts_np(T: npt.NDArray, pts: npt.NDArray):
+    """Args:
+    ----
+        T (torch.Tensor): (4, 4), homogeneous matrix representing a SE(3) transformation
+        pts (torch.Tensor): (n_pts, 3), 3D points to be transformed by T
+
+    Returns
+    -------
+        npt.NDArray: (n_pts, 3)
+    """
+
+    return (T[:3, :3] @ pts.T + T[:3, 3].reshape((3, 1))).T
+
+
 def transform_pts(T: torch.Tensor, pts: torch.Tensor) -> torch.Tensor:
     """Args:
     ----
diff --git a/poetry.lock b/poetry.lock
index 82c33dbc..27f0146a 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -137,17 +137,6 @@ charset-normalizer = ["charset-normalizer"]
 html5lib = ["html5lib"]
 lxml = ["lxml"]
 
-[[package]]
-name = "blinker"
-version = "1.8.2"
-description = "Fast, simple object-to-object and broadcast signaling"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "blinker-1.8.2-py3-none-any.whl", hash = "sha256:1779309f71bf239144b9399d06ae925637cf6634cf6bd131104184531bf67c01"},
-    {file = "blinker-1.8.2.tar.gz", hash = "sha256:8f77b09d3bf7c795e969e9486f39c2c5e9c39d4ee07424be2bc594ece9642d83"},
-]
-
 [[package]]
 name = "bokeh"
 version = "3.6.0"
@@ -418,20 +407,6 @@ files = [
     {file = "charset_normalizer-3.4.0.tar.gz", hash = "sha256:223217c3d4f82c3ac5e29032b3f1c2eb0fb591b72161f86d93f5719079dae93e"},
 ]
 
-[[package]]
-name = "click"
-version = "8.1.7"
-description = "Composable command line interface toolkit"
-optional = false
-python-versions = ">=3.7"
-files = [
-    {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"},
-    {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"},
-]
-
-[package.dependencies]
-colorama = {version = "*", markers = "platform_system == \"Windows\""}
-
 [[package]]
 name = "cmeel"
 version = "0.53.3"
@@ -665,21 +640,6 @@ files = [
     {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
 ]
 
-[[package]]
-name = "configargparse"
-version = "1.7"
-description = "A drop-in replacement for argparse that allows options to also be set via config files and/or environment variables."
-optional = false
-python-versions = ">=3.5"
-files = [
-    {file = "ConfigArgParse-1.7-py3-none-any.whl", hash = "sha256:d249da6591465c6c26df64a9f73d2536e743be2f244eb3ebe61114af2f94f86b"},
-    {file = "ConfigArgParse-1.7.tar.gz", hash = "sha256:e7067471884de5478c58a511e529f0f9bd1c66bfef1dea90935438d6c23306d1"},
-]
-
-[package.extras]
-test = ["PyYAML", "mock", "pytest"]
-yaml = ["PyYAML"]
-
 [[package]]
 name = "contourpy"
 version = "1.3.0"
@@ -944,72 +904,6 @@ files = [
     {file = "cython-3.0.11.tar.gz", hash = "sha256:7146dd2af8682b4ca61331851e6aebce9fe5158e75300343f80c07ca80b1faff"},
 ]
 
-[[package]]
-name = "dash"
-version = "2.18.1"
-description = "A Python framework for building reactive web-apps. Developed by Plotly."
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "dash-2.18.1-py3-none-any.whl", hash = "sha256:07c4513bb5f79a4b936847a0b49afc21dbd4b001ff77ea78d4d836043e211a07"},
-    {file = "dash-2.18.1.tar.gz", hash = "sha256:ffdf89690d734f6851ef1cb344222826ffb11ad2214ab9172668bf8aadd75d12"},
-]
-
-[package.dependencies]
-dash-core-components = "2.0.0"
-dash-html-components = "2.0.0"
-dash-table = "5.0.0"
-Flask = ">=1.0.4,<3.1"
-importlib-metadata = "*"
-nest-asyncio = "*"
-plotly = ">=5.0.0"
-requests = "*"
-retrying = "*"
-setuptools = "*"
-typing-extensions = ">=4.1.1"
-Werkzeug = "<3.1"
-
-[package.extras]
-celery = ["celery[redis] (>=5.1.2)", "redis (>=3.5.3)"]
-ci = ["black (==22.3.0)", "dash-dangerously-set-inner-html", "dash-flow-example (==0.0.5)", "flake8 (==7.0.0)", "flaky (==3.8.1)", "flask-talisman (==1.0.0)", "jupyterlab (<4.0.0)", "mimesis (<=11.1.0)", "mock (==4.0.3)", "numpy (<=1.26.3)", "openpyxl", "orjson (==3.10.3)", "pandas (>=1.4.0)", "pyarrow", "pylint (==3.0.3)", "pytest-mock", "pytest-rerunfailures", "pytest-sugar (==0.9.6)", "pyzmq (==25.1.2)", "xlrd (>=2.0.1)"]
-compress = ["flask-compress"]
-dev = ["PyYAML (>=5.4.1)", "coloredlogs (>=15.0.1)", "fire (>=0.4.0)"]
-diskcache = ["diskcache (>=5.2.1)", "multiprocess (>=0.70.12)", "psutil (>=5.8.0)"]
-testing = ["beautifulsoup4 (>=4.8.2)", "cryptography", "dash-testing-stub (>=0.0.2)", "lxml (>=4.6.2)", "multiprocess (>=0.70.12)", "percy (>=2.0.2)", "psutil (>=5.8.0)", "pytest (>=6.0.2)", "requests[security] (>=2.21.0)", "selenium (>=3.141.0,<=4.2.0)", "waitress (>=1.4.4)"]
-
-[[package]]
-name = "dash-core-components"
-version = "2.0.0"
-description = "Core component suite for Dash"
-optional = false
-python-versions = "*"
-files = [
-    {file = "dash_core_components-2.0.0-py3-none-any.whl", hash = "sha256:52b8e8cce13b18d0802ee3acbc5e888cb1248a04968f962d63d070400af2e346"},
-    {file = "dash_core_components-2.0.0.tar.gz", hash = "sha256:c6733874af975e552f95a1398a16c2ee7df14ce43fa60bb3718a3c6e0b63ffee"},
-]
-
-[[package]]
-name = "dash-html-components"
-version = "2.0.0"
-description = "Vanilla HTML components for Dash"
-optional = false
-python-versions = "*"
-files = [
-    {file = "dash_html_components-2.0.0-py3-none-any.whl", hash = "sha256:b42cc903713c9706af03b3f2548bda4be7307a7cf89b7d6eae3da872717d1b63"},
-    {file = "dash_html_components-2.0.0.tar.gz", hash = "sha256:8703a601080f02619a6390998e0b3da4a5daabe97a1fd7a9cebc09d015f26e50"},
-]
-
-[[package]]
-name = "dash-table"
-version = "5.0.0"
-description = "Dash table"
-optional = false
-python-versions = "*"
-files = [
-    {file = "dash_table-5.0.0-py3-none-any.whl", hash = "sha256:19036fa352bb1c11baf38068ec62d172f0515f73ca3276c79dee49b95ddc16c9"},
-    {file = "dash_table-5.0.0.tar.gz", hash = "sha256:18624d693d4c8ef2ddec99a6f167593437a7ea0bf153aa20f318c170c5bc7308"},
-]
-
 [[package]]
 name = "decorator"
 version = "5.1.1"
@@ -1112,20 +1006,6 @@ files = [
 [package.extras]
 tests = ["asttokens (>=2.1.0)", "coverage", "coverage-enable-subprocess", "ipython", "littleutils", "pytest", "rich"]
 
-[[package]]
-name = "fastjsonschema"
-version = "2.20.0"
-description = "Fastest Python implementation of JSON schema"
-optional = false
-python-versions = "*"
-files = [
-    {file = "fastjsonschema-2.20.0-py3-none-any.whl", hash = "sha256:5875f0b0fa7a0043a91e93a9b8f793bcbbba9691e7fd83dca95c28ba26d21f0a"},
-    {file = "fastjsonschema-2.20.0.tar.gz", hash = "sha256:3d48fc5300ee96f5d116f10fe6f28d938e6008f59a6a025c2649475b87f76a23"},
-]
-
-[package.extras]
-devel = ["colorama", "json-spec", "jsonschema", "pylint", "pytest", "pytest-benchmark", "pytest-cache", "validictory"]
-
 [[package]]
 name = "filelock"
 version = "3.16.1"
@@ -1142,28 +1022,6 @@ docs = ["furo (>=2024.8.6)", "sphinx (>=8.0.2)", "sphinx-autodoc-typehints (>=2.
 testing = ["covdefaults (>=2.3)", "coverage (>=7.6.1)", "diff-cover (>=9.2)", "pytest (>=8.3.3)", "pytest-asyncio (>=0.24)", "pytest-cov (>=5)", "pytest-mock (>=3.14)", "pytest-timeout (>=2.3.1)", "virtualenv (>=20.26.4)"]
 typing = ["typing-extensions (>=4.12.2)"]
 
-[[package]]
-name = "flask"
-version = "3.0.3"
-description = "A simple framework for building complex web applications."
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "flask-3.0.3-py3-none-any.whl", hash = "sha256:34e815dfaa43340d1d15a5c3a02b8476004037eb4840b34910c6e21679d288f3"},
-    {file = "flask-3.0.3.tar.gz", hash = "sha256:ceb27b0af3823ea2737928a4d99d125a06175b8512c445cbd9a9ce200ef76842"},
-]
-
-[package.dependencies]
-blinker = ">=1.6.2"
-click = ">=8.1.3"
-itsdangerous = ">=2.1.2"
-Jinja2 = ">=3.1.2"
-Werkzeug = ">=3.0.0"
-
-[package.extras]
-async = ["asgiref (>=3.2)"]
-dotenv = ["python-dotenv"]
-
 [[package]]
 name = "fonttools"
 version = "4.54.1"
@@ -1292,70 +1150,70 @@ tqdm = ["tqdm"]
 
 [[package]]
 name = "grpcio"
-version = "1.67.0"
+version = "1.67.1"
 description = "HTTP/2-based RPC framework"
 optional = true
 python-versions = ">=3.8"
 files = [
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 [package.extras]
-protobuf = ["grpcio-tools (>=1.67.0)"]
+protobuf = ["grpcio-tools (>=1.67.1)"]
 
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@@ -1583,29 +1441,6 @@ files = [
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-
 [[package]]
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 version = "2.0.0"
@@ -1655,17 +1490,6 @@ qtconsole = ["qtconsole"]
 test = ["packaging", "pickleshare", "pytest", "pytest-asyncio (<0.22)", "testpath"]
 test-extra = ["curio", "ipython[test]", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.23)", "pandas", "trio"]
 
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 name = "selenium"
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+version = "75.3.0"
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 [[package]]
 name = "simplejson"
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 [[package]]
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 version = "2.18.0"
@@ -4354,28 +3857,28 @@ files = [
 
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 [package.dependencies]
@@ -4448,37 +3951,33 @@ dev = ["parameterized", "pyre-check", "pytest", "pytest-cov", "torchsnapshot-nig
 
 [[package]]
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 [package.dependencies]
 numpy = "*"
 pillow = ">=5.3.0,<8.3.dev0 || >=8.4.dev0"
-torch = "2.5.0"
+torch = "2.5.1"
 
 [package.extras]
 gdown = ["gdown (>=4.7.3)"]
@@ -4506,13 +4005,13 @@ files = [
 
 [[package]]
 name = "tqdm"
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 description = "Fast, Extensible Progress Meter"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -4703,13 +4202,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
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+version = "20.27.1"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "virtualenv-20.27.0-py3-none-any.whl", hash = "sha256:44a72c29cceb0ee08f300b314848c86e57bf8d1f13107a5e671fb9274138d655"},
-    {file = "virtualenv-20.27.0.tar.gz", hash = "sha256:2ca56a68ed615b8fe4326d11a0dca5dfbe8fd68510fb6c6349163bed3c15f2b2"},
+    {file = "virtualenv-20.27.1-py3-none-any.whl", hash = "sha256:f11f1b8a29525562925f745563bfd48b189450f61fb34c4f9cc79dd5aa32a1f4"},
+    {file = "virtualenv-20.27.1.tar.gz", hash = "sha256:142c6be10212543b32c6c45d3d3893dff89112cc588b7d0879ae5a1ec03a47ba"},
 ]
 
 [package.dependencies]
@@ -4839,13 +4338,13 @@ test = ["websockets"]
 
 [[package]]
 name = "werkzeug"
-version = "3.0.5"
+version = "3.0.6"
 description = "The comprehensive WSGI web application library."
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
-    {file = "werkzeug-3.0.5-py3-none-any.whl", hash = "sha256:6e589e0b303561b8b1a61d363ee05b1d7de6ca12f27a3a25269ae6ee93e363fd"},
-    {file = "werkzeug-3.0.5.tar.gz", hash = "sha256:033bc3783777078517f32ae3ba9e86e9bc38bdbf139b1a5a3af9679a64ed1293"},
+    {file = "werkzeug-3.0.6-py3-none-any.whl", hash = "sha256:1bc0c2310d2fbb07b1dd1105eba2f7af72f322e1e455f2f93c993bee8c8a5f17"},
+    {file = "werkzeug-3.0.6.tar.gz", hash = "sha256:a8dd59d4de28ca70471a34cba79bed5f7ef2e036a76b3ab0835474246eb41f8d"},
 ]
 
 [package.dependencies]
@@ -4904,25 +4403,6 @@ files = [
     {file = "xyzservices-2024.9.0.tar.gz", hash = "sha256:68fb8353c9dbba4f1ff6c0f2e5e4e596bb9e1db7f94f4f7dfbcb26e25aa66fde"},
 ]
 
-[[package]]
-name = "zipp"
-version = "3.20.2"
-description = "Backport of pathlib-compatible object wrapper for zip files"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "zipp-3.20.2-py3-none-any.whl", hash = "sha256:a817ac80d6cf4b23bf7f2828b7cabf326f15a001bea8b1f9b49631780ba28350"},
-    {file = "zipp-3.20.2.tar.gz", hash = "sha256:bc9eb26f4506fda01b81bcde0ca78103b6e62f991b381fec825435c836edbc29"},
-]
-
-[package.extras]
-check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"]
-cover = ["pytest-cov"]
-doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-enabler = ["pytest-enabler (>=2.2)"]
-test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-ignore-flaky"]
-type = ["pytest-mypy"]
-
 [extras]
 evaluation = ["cmeel-teaser-plusplus"]
 multiview = ["cosypose"]
@@ -4931,4 +4411,4 @@ pypi = ["opencv-contrib-python", "opencv-python", "pin", "torch", "torchnet", "t
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "597672e76201b0706fa4d48bbee0727117cbbd5719fef85e4248687c15235b19"
+content-hash = "8499ac247adc4f5609644be7c5ce073bc52b83bf380fe2387ebd2676b967b95d"
diff --git a/pyproject.toml b/pyproject.toml
index 2efe6aa2..2c881615 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -33,7 +33,6 @@ ipython = "^8.29.0"
 joblib = "^1.4.2"
 meshcat = "^0.3.2"
 omegaconf = "^2.3.0"
-open3d = "^0.18.0"
 opencv-contrib-python = {optional = true, version = "^4.10.0.84"}
 opencv-python = {optional = true, version = "^4.10.0.84"}
 panda3d = "^1.10.14"