Plane Fitting
I've added plane fitting to Cyclops, and whilst useless for organic objects this can clean up objects with flat surfaces, such as buildings, quite nicely. It is admittedly very slow (It took 5 hours to do Stereopsis for the video below.), and when it makes a mistake its usually really bad. None the less, it will be available when I release the next version of Cyclops (Probably this weekend.) and for the moment a video is provided.

Also, if you have some anaglyph glasses then here is an anaglyph version: