diff --git a/README.md b/README.md
index 2224d55..9acccc8 100644
--- a/README.md
+++ b/README.md
@@ -15,7 +15,8 @@ Fast triangulation of multiple persons from multiple camera views.
 
 ## Build
 
-- Clone this project with submodules: 
+- Clone this project with submodules:
+
     ```bash
     git clone --recurse-submodules https://gitlab.com/Percipiote/RapidPoseTriangulation.git
     cd RapidPoseTriangulation/
@@ -40,17 +41,19 @@ Fast triangulation of multiple persons from multiple camera views.
   - Restart docker: `sudo systemctl restart docker`
 
 - Build docker container:
+
   ```bash
   docker build --progress=plain -t rapidposetriangulation .
   ./run_container.sh
   ```
 
 - Build triangulator:
+
   ```bash
   cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py && cd ..
 
   cd /RapidPoseTriangulation/scripts/ && \
-  g++ -std=c++2a -fPIC -O3 -march=native -Wall -Werror -flto=auto -fopenmp -fopenmp-simd \
+  g++ -std=c++2a -fPIC -O3 -march=native -Wall -Werror -flto=auto \
     -I /RapidPoseTriangulation/rpt/ \
     -isystem /usr/include/opencv4/ \
     -isystem /onnxruntime/include/ \
@@ -72,11 +75,13 @@ Fast triangulation of multiple persons from multiple camera views.
   ```
 
 - Test with samples:
+
   ```bash
   python3 /RapidPoseTriangulation/scripts/test_triangulate.py
   ```
 
 - Test with _skelda_ dataset:
+
   ```bash
   export CUDA_VISIBLE_DEVICES=0
   python3 /RapidPoseTriangulation/scripts/test_skelda_dataset.py
diff --git a/extras/easypose/README.md b/extras/easypose/README.md
index b9c769d..2c08ccd 100644
--- a/extras/easypose/README.md
+++ b/extras/easypose/README.md
@@ -1,6 +1,6 @@
 # Test ONNX with EasyPose
 
-Code files originally from: https://github.com/Dominic23331/EasyPose.git
+Code files originally from: <https://github.com/Dominic23331/EasyPose.git>
 
 <br>
 
diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index 9607e43..06e8e39 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -8,7 +8,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 ## Base installation
 
 - Install newest software image: \
-  (https://developer.nvidia.com/sdk-manager)
+  (<https://developer.nvidia.com/sdk-manager>)
 
   - Use manual recovery mode setup for first installation
 
@@ -19,7 +19,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
     ```
 
 - Initialize system: \
-  (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)
+  (<https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit>)
 
   - Connect via _ssh_, because using _screen_ did not work, skip _oem-config_ step
 
@@ -53,7 +53,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   ```
 
 - Enable _docker_ without _sudo_: \
-  (https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user)
+  (<https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user>)
 
 - Enable GPU-access for docker building:
 
@@ -97,7 +97,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py && cd ..
 
   cd /RapidPoseTriangulation/scripts/ && \
-  g++ -std=c++2a -fPIC -O3 -march=native -Wall -Werror -flto=auto -fopenmp -fopenmp-simd \
+  g++ -std=c++2a -fPIC -O3 -march=native -Wall -Werror -flto=auto \
     -I /RapidPoseTriangulation/rpt/ \
     -isystem /usr/include/opencv4/ \
     -isystem /usr/local/include/onnxruntime/ \
diff --git a/extras/ros/rpt3d_wrapper_cpp/CMakeLists.txt b/extras/ros/rpt3d_wrapper_cpp/CMakeLists.txt
index 303809a..df7d33d 100644
--- a/extras/ros/rpt3d_wrapper_cpp/CMakeLists.txt
+++ b/extras/ros/rpt3d_wrapper_cpp/CMakeLists.txt
@@ -6,9 +6,9 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++17
+# Default to C++20
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD 20)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -20,8 +20,6 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rpt_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(OpenCV REQUIRED)
-find_package(OpenMP REQUIRED)
 
 # Add RapidPoseTriangulation implementation
 set(RAPID_POSE_TRIANGULATION_DIR "/RapidPoseTriangulation")
@@ -33,14 +31,9 @@ ${RAPID_POSE_TRIANGULATION_DIR}/rpt/camera.cpp
 target_include_directories(rapid_pose_triangulation PUBLIC
   ${RAPID_POSE_TRIANGULATION_DIR}/extras/include
   ${RAPID_POSE_TRIANGULATION_DIR}/rpt
-  ${OpenCV_INCLUDE_DIRS}
-)
-target_link_libraries(rapid_pose_triangulation PUBLIC
-  ${OpenCV_LIBS}
-  OpenMP::OpenMP_CXX
 )
 target_compile_options(rapid_pose_triangulation PUBLIC
-  -fPIC -O3 -march=native -Wall -Werror -fopenmp -fopenmp-simd
+  -fPIC -O3 -march=native -Wall -Werror
 )
 
 # Build the executable
@@ -51,7 +44,6 @@ target_include_directories(rpt3d_wrapper PUBLIC
   $<INSTALL_INTERFACE:include>)
 
 target_link_libraries(rpt3d_wrapper
-  ${OpenCV_LIBS}
   rapid_pose_triangulation
 )
 
diff --git a/media/RESULTS.md b/media/RESULTS.md
index a2e5331..d7d92e7 100644
--- a/media/RESULTS.md
+++ b/media/RESULTS.md
@@ -2812,7 +2812,6 @@ Results of the model in various experiments on different datasets. \
 
 ### Tsinghua
 
-(duration 00:01:51)
 ```json
 {
   "img_loading": 0.111981,
diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp
index 185698a..56581f1 100644
--- a/rpt/triangulator.cpp
+++ b/rpt/triangulator.cpp
@@ -1,8 +1,10 @@
+#include <algorithm>
 #include <chrono>
+#include <cmath>
+#include <iomanip>
+#include <map>
 #include <numeric>
-
-#include <omp.h>
-#include <opencv2/opencv.hpp>
+#include <unordered_map>
 
 #include "camera.hpp"
 #include "triangulator.hpp"
@@ -10,45 +12,6 @@
 // =================================================================================================
 // =================================================================================================
 
-[[maybe_unused]] static void print_2d_mat(const cv::Mat &mat)
-{
-    // Ensure the matrix is 2D
-    if (mat.dims != 2)
-    {
-        std::cerr << "Error: The matrix is not 2D." << std::endl;
-        return;
-    }
-
-    // Retrieve matrix dimensions
-    int rows = mat.rows;
-    int cols = mat.cols;
-
-    // Print the matrix in a NumPy-like style
-    std::cout << "cv::Mat('shape': (" << rows << ", " << cols << ")";
-    std::cout << ", 'data': [" << std::endl;
-
-    for (int i = 0; i < rows; ++i)
-    {
-        std::cout << "  [";
-        for (int j = 0; j < cols; ++j)
-        {
-            std::cout << std::fixed << std::setprecision(3) << mat.at<float>(i, j);
-            if (j < cols - 1)
-            {
-                std::cout << ", ";
-            }
-        }
-        std::cout << "]";
-        if (i < rows - 1)
-        {
-            std::cout << "," << std::endl;
-        }
-    }
-    std::cout << "])" << std::endl;
-}
-
-// =================================================================================================
-
 [[maybe_unused]] static void print_2d_poses(const std::vector<std::array<float, 3>> &poses)
 {
     std::cout << "Poses: (" << poses.size() << ", 3)[" << std::endl;
diff --git a/rpt/triangulator.hpp b/rpt/triangulator.hpp
index aba7dc4..88f6a53 100644
--- a/rpt/triangulator.hpp
+++ b/rpt/triangulator.hpp
@@ -1,12 +1,9 @@
 #pragma once
 
 #include <array>
-#include <iostream>
 #include <string>
 #include <vector>
 
-#include <opencv2/opencv.hpp>
-
 #include "camera.hpp"
 
 // =================================================================================================
diff --git a/swig/Makefile b/swig/Makefile
index bc4ab3a..77d3c46 100644
--- a/swig/Makefile
+++ b/swig/Makefile
@@ -1,5 +1,5 @@
 # Standard compile options for the C++ executable
-FLAGS = -fPIC -O3 -march=native -Wall -Werror -flto=auto -fopenmp -fopenmp-simd
+FLAGS = -fPIC -O3 -march=native -Wall -Werror -flto=auto
 
 # The Python interface through SWIG
 PYTHON_VERSION = $(shell python3 -c 'import sys; print(f"{sys.version_info.major}.{sys.version_info.minor}");')
@@ -8,7 +8,7 @@ PYTHONL = -Xlinker -export-dynamic
 
 # Default super-target
 all:
-	cd ../rpt/ && g++ $(FLAGS) -std=c++2a -isystem /usr/include/opencv4/ -c *.cpp ; cd ../swig/
+	cd ../rpt/ && g++ $(FLAGS) -std=c++2a -c *.cpp ; cd ../swig/
 	swig -c++ -python -keyword -o rpt_wrap.cxx rpt.i
 	g++ $(FLAGS) $(PYTHONI) -c rpt_wrap.cxx -o rpt_wrap.o
-	g++ $(FLAGS) $(PYTHONL) -shared ../rpt/*.o rpt_wrap.o -lopencv_core -lopencv_imgproc -lopencv_calib3d -o _rpt.so
+	g++ $(FLAGS) $(PYTHONL) -shared ../rpt/*.o rpt_wrap.o -o _rpt.so