Some mixed cleanups.

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>
 

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/ \

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
 )