diff --git a/Cargo.lock b/Cargo.lock
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@@ -2034,17 +526,11 @@ version = "1.0.58"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cc60a3d73ea6594cd712d830cc1f0390fd71542d8c8cd24e70cc54cdfd5e05d5"
 dependencies = [
- "proc-macro2 1.0.24",
- "quote 1.0.8",
- "unicode-xid 0.2.1",
+ "proc-macro2",
+ "quote",
+ "unicode-xid",
 ]
 
-[[package]]
-name = "takeable-option"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "36ae8932fcfea38b7d3883ae2ab357b0d57a02caaa18ebb4f5ece08beaec4aa0"
-
 [[package]]
 name = "termcolor"
 version = "1.1.2"
@@ -2081,38 +567,12 @@ dependencies = [
  "lazy_static",
 ]
 
-[[package]]
-name = "tiff"
-version = "0.6.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9a53f4706d65497df0c4349241deddf35f84cee19c87ed86ea8ca590f4464437"
-dependencies = [
- "jpeg-decoder",
- "miniz_oxide 0.4.3",
- "weezl",
-]
-
-[[package]]
-name = "tobj"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2b9d0bafde95a2f8f50dd3c10bc127b462efa8c3c0b60dfa276b7e032100e21d"
-dependencies = [
- "log",
-]
-
 [[package]]
 name = "toml"
 version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "736b60249cb25337bc196faa43ee12c705e426f3d55c214d73a4e7be06f92cb4"
 
-[[package]]
-name = "typenum"
-version = "1.12.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "373c8a200f9e67a0c95e62a4f52fbf80c23b4381c05a17845531982fa99e6b33"
-
 [[package]]
 name = "unicode-segmentation"
 version = "1.7.1"
@@ -2125,12 +585,6 @@ version = "0.1.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9337591893a19b88d8d87f2cec1e73fad5cdfd10e5a6f349f498ad6ea2ffb1e3"
 
-[[package]]
-name = "unicode-xid"
-version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc72304796d0818e357ead4e000d19c9c174ab23dc11093ac919054d20a6a7fc"
-
 [[package]]
 name = "unicode-xid"
 version = "0.2.1"
@@ -2155,95 +609,12 @@ version = "0.9.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b5a972e5669d67ba988ce3dc826706fb0a8b01471c088cb0b6110b805cc36aed"
 
-[[package]]
-name = "void"
-version = "1.0.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
-
-[[package]]
-name = "walkdir"
-version = "2.3.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "777182bc735b6424e1a57516d35ed72cb8019d85c8c9bf536dccb3445c1a2f7d"
-dependencies = [
- "same-file",
- "winapi 0.3.9",
- "winapi-util",
-]
-
 [[package]]
 name = "wasi"
 version = "0.9.0+wasi-snapshot-preview1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cccddf32554fecc6acb585f82a32a72e28b48f8c4c1883ddfeeeaa96f7d8e519"
 
-[[package]]
-name = "wayland-client"
-version = "0.23.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af1080ebe0efabcf12aef2132152f616038f2d7dcbbccf7b2d8c5270fe14bcda"
-dependencies = [
- "bitflags",
- "calloop",
- "downcast-rs",
- "libc",
- "mio",
- "nix",
- "wayland-commons",
- "wayland-scanner",
- "wayland-sys",
-]
-
-[[package]]
-name = "wayland-commons"
-version = "0.23.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bb66b0d1a27c39bbce712b6372131c6e25149f03ffb0cd017cf8f7de8d66dbdb"
-dependencies = [
- "nix",
- "wayland-sys",
-]
-
-[[package]]
-name = "wayland-protocols"
-version = "0.23.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6cc286643656742777d55dc8e70d144fa4699e426ca8e9d4ef454f4bf15ffcf9"
-dependencies = [
- "bitflags",
- "wayland-client",
- "wayland-commons",
- "wayland-scanner",
-]
-
-[[package]]
-name = "wayland-scanner"
-version = "0.23.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "93b02247366f395b9258054f964fe293ddd019c3237afba9be2ccbe9e1651c3d"
-dependencies = [
- "proc-macro2 0.4.30",
- "quote 0.6.13",
- "xml-rs 0.8.3",
-]
-
-[[package]]
-name = "wayland-sys"
-version = "0.23.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d94e89a86e6d6d7c7c9b19ebf48a03afaac4af6bc22ae570e9a24124b75358f4"
-dependencies = [
- "dlib",
- "lazy_static",
-]
-
-[[package]]
-name = "weezl"
-version = "0.1.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3e2bb9fc8309084dd7cd651336673844c1d47f8ef6d2091ec160b27f5c4aa277"
-
 [[package]]
 name = "which"
 version = "3.1.1"
@@ -2253,12 +624,6 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "winapi"
-version = "0.2.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "167dc9d6949a9b857f3451275e911c3f44255842c1f7a76f33c55103a909087a"
-
 [[package]]
 name = "winapi"
 version = "0.3.9"
@@ -2269,12 +634,6 @@ dependencies = [
  "winapi-x86_64-pc-windows-gnu",
 ]
 
-[[package]]
-name = "winapi-build"
-version = "0.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2d315eee3b34aca4797b2da6b13ed88266e6d612562a0c46390af8299fc699bc"
-
 [[package]]
 name = "winapi-i686-pc-windows-gnu"
 version = "0.4.0"
@@ -2287,7 +646,7 @@ version = "0.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "70ec6ce85bb158151cae5e5c87f95a8e97d2c0c4b001223f33a334e3ce5de178"
 dependencies = [
- "winapi 0.3.9",
+ "winapi",
 ]
 
 [[package]]
@@ -2296,97 +655,6 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
-[[package]]
-name = "winit"
-version = "0.21.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "65a5c1a5ef76ac31cc97ad29489acdbed2178f3fc12ca00ee6cb11d60adb5a3a"
-dependencies = [
- "android_glue",
- "bitflags",
- "cocoa",
- "core-foundation 0.6.4",
- "core-graphics 0.17.3",
- "core-video-sys",
- "dispatch",
- "instant",
- "lazy_static",
- "libc",
- "log",
- "mio",
- "mio-extras",
- "objc",
- "parking_lot",
- "percent-encoding",
- "raw-window-handle",
- "smithay-client-toolkit",
- "wayland-client",
- "winapi 0.3.9",
- "x11-dl",
-]
-
-[[package]]
-name = "ws2_32-sys"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d59cefebd0c892fa2dd6de581e937301d8552cb44489cdff035c6187cb63fa5e"
-dependencies = [
- "winapi 0.2.8",
- "winapi-build",
-]
-
-[[package]]
-name = "x11-clipboard"
-version = "0.3.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89bd49c06c9eb5d98e6ba6536cf64ac9f7ee3a009b2f53996d405b3944f6bcea"
-dependencies = [
- "xcb",
-]
-
-[[package]]
-name = "x11-dl"
-version = "2.18.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2bf981e3a5b3301209754218f962052d4d9ee97e478f4d26d4a6eced34c1fef8"
-dependencies = [
- "lazy_static",
- "libc",
- "maybe-uninit",
- "pkg-config",
-]
-
-[[package]]
-name = "xcb"
-version = "0.8.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e917a3f24142e9ff8be2414e36c649d47d6cc2ba81f16201cdef96e533e02de"
-dependencies = [
- "libc",
- "log",
-]
-
-[[package]]
-name = "xdg"
-version = "2.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d089681aa106a86fade1b0128fb5daf07d5867a509ab036d99988dec80429a57"
-
-[[package]]
-name = "xml-rs"
-version = "0.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c1cb601d29fe2c2ac60a2b2e5e293994d87a1f6fa9687a31a15270f909be9c2"
-dependencies = [
- "bitflags",
-]
-
-[[package]]
-name = "xml-rs"
-version = "0.8.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b07db065a5cf61a7e4ba64f29e67db906fb1787316516c4e6e5ff0fea1efcd8a"
-
 [[package]]
 name = "zeromq-src"
 version = "0.1.10+4.3.2"
diff --git a/Cargo.toml b/Cargo.toml
index 8026f83e67..d861895318 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -11,33 +11,15 @@ path = "src/main_zeromq.rs"
 
 [dependencies]
 anyhow = "1.0.32"
-arcball = "1.0.0" # camera
 byteorder = "1.4.2"
 bytes = "1.0.1"
-cgmath = "0.17.0" # for arcball, but probably good for matrices, vecs, etc.
 clap = "3.0.0-beta.1"
-clipboard = "0.5" # to support imgui...
 env_logger = "0.7.1"
-gl = "0.14.0" # this looks like bare bones OpenGL
-glfw = "0.37.0" # GL framework - windows, contexts, devices
-glfw-sys = "3.3.2" # Does this have linear algebra?
-glium = { version = "0.26.0", default-features = true } # high-level OpenGL abstraction (*not* vanilla OpenGL)
-gltf = "0.15.2" # glTF loader (more modern OBJ)
-image = "0.23.8" # all the image formats
-imgui = "0.3.0" # OpenGL windowing toolkit (experimental bindings)
-imgui-glium-renderer = "0.3.0"
-imgui-opengl-renderer = "0.7.0"
-imgui-sdl2 = "0.9.0" # for imgui-opengl-renderer
-imgui-winit-support = "0.3.1"
 k4a-sys-temp = "0.2.3"
-kinect = "0.0.5"
 #kinect = { path = "../kinect.rs" }
+kinect = "0.0.5"
 libc = "0.2.68"
 log = "0.4.11"
-nalgebra = "0.21.1" # linear algebra and matrices, fantastic docs
-nalgebra-glm = "0.7.0" # computer graphics-friendly nalgebra, inspired by C++'s glm
+num-traits = "0.2.14"
 rand = "0.7.3"
-sdl2 = "0.33" # for imgui-opengl-renderer
-tobj = { version = "1.0", features = ["log"] }# Another obj loader (using older version to match `tobj_viewer` binary/crate)
-winit = "=0.21.0" # cross-platform window management, because imgui
 zmq = { version = "0.9", features = ['vendored'] }
\ No newline at end of file
diff --git a/src/zeromq/cpu_calculate_point_cloud.rs b/src/zeromq/cpu_calculate_point_cloud.rs
index 311cccdd7f..f953524eef 100644
--- a/src/zeromq/cpu_calculate_point_cloud.rs
+++ b/src/zeromq/cpu_calculate_point_cloud.rs
@@ -1,5 +1,4 @@
 use anyhow::anyhow;
-use cgmath::num_traits::Float;
 use crate::AnyhowResult;
 use crate::CommandArgs;
 use crate::zeromq::color::Color;
@@ -7,6 +6,7 @@ use crate::zeromq::point::Point;
 use k4a_sys_temp as k4a_sys;
 use kinect::Image;
 use kinect::ImageFormat;
+use num_traits::Float;
 use std::mem::size_of;
 
 pub struct PointCloudResult {
diff --git a/src/zeromq/debug.rs b/src/zeromq/debug.rs
index 3f1ca6155c..2395ff91a2 100644
--- a/src/zeromq/debug.rs
+++ b/src/zeromq/debug.rs
@@ -1,5 +1,5 @@
-use cgmath::num_traits::Float;
 use crate::zeromq::point::Point;
+use num_traits::Float;
 
 /// Print the minima and maxima along each dimension.
 pub fn print_pointcloud_maxima(points: &Vec<Point>) {