Make triangulation a zero-copy pure function

extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp

@@ -66,8 +66,6 @@ public:
         this->all_poses_set.resize(cam_ids.size(), false);
 
         // Load 3D models
-        tri_model = std::make_unique<Triangulator>(
-            min_match_score, min_group_size);
         pose_tracker = std::make_unique<PoseTracker>(
             max_movement_speed, max_track_distance);
 
@@ -120,7 +118,6 @@ private:
     std::vector<rclcpp::Subscription<std_msgs::msg::String>::SharedPtr> sub_cam_list_;
     rclcpp::Publisher<rpt_msgs::msg::Poses>::SharedPtr pose_pub_;
 
-    std::unique_ptr<Triangulator> tri_model;
     std::unique_ptr<PoseTracker> pose_tracker;
     std::vector<Camera> all_cameras;
     std::mutex cams_mutex, pose_mutex, model_mutex;
@@ -240,8 +237,9 @@ void Rpt3DWrapperNode::call_model()
     cams_mutex.lock();
     pose_mutex.lock();
     PoseBatch2D pose_batch_2d = PoseBatch2D::from_nested(all_poses);
-    auto poses_3d = tri_model->triangulate_poses(
-        pose_batch_2d, all_cameras, roomparams, joint_names).to_nested();
+    auto poses_3d = triangulate_poses(
+        pose_batch_2d, all_cameras, roomparams, joint_names, min_match_score, min_group_size)
+                        .to_nested();
 
     double min_ts = *std::min_element(all_timestamps.begin(), all_timestamps.end());
     this->all_poses_set = std::vector<bool>(cam_ids.size(), false);