was curious about this while looking through:
github.com/alicevision/geogram/blob/05b3ef4edf0b87b5e52ff7f93a520e0e98ab3951/src/lib/geogram/basic/quaternion.h#L67
Marvin is a deep learning framework designed first and foremost to be hackable. It is naively simple for fast prototyping, uses only basic C/C++, and only calls CUDA and cuDNN as dependencies.