Some mixed cleanups.

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;

rpt/triangulator.hpp

@@ -1,12 +1,9 @@
 #pragma once
 
 #include <array>
-#include <iostream>
 #include <string>
 #include <vector>
 
-#include <opencv2/opencv.hpp>
-
 #include "camera.hpp"
 
 // =================================================================================================