Some mixed cleanups.

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
 )