This library so far mainly provides the means to optimize the rotation of a Manhattan Frame (MF) given surface normal associations.

If you use this code for research please cite

A Mixture of Manhattan Frames: Beyond the Manhattan World (Julian
Straub, Guy Rosman, Oren Freifeld, John J. Leonard, John W. Fisher
III), In CVPR, 2014.

More information about the theory behind MFs can be found at http://www.jstraub.de/a-mixture-of-manhattan-frames-beyond-the-manhattan-world/

This code depends on the following other libraries and was tested under Ubuntu 14.04.

• pcl 1.7 (and vtk 5.8)
• Opencv 2 (2.3.1)
• Eigen3 (3.0.5)
• cuda 5.5 or 6.5
• Boost (1.52)

The GPU kernels were tested on a Nvidia Quadro K2000M with compute capability 3.0.

Once you have those dependencies in place run

make checkout && make configure && make 

This will checkout dependencies from some of my other repos and compile everything to ./build/

libmmf.so collects all the cuda code into one shared library. The rest of the code is in the form of header files.