phildue

Follow up: If I just set the VertexSBAPoints as fixed, doesnt it perform pose graph optimization then?

Just ran into the same issue. Got it running by changing webcam.py:23 to: toShow = cv2.resize(toShow, (int(width/2), int(height))) and selecting 1 or 2 or 3. e.g. --resolution 1. Not sure...

Please not that this works fine when compiling the same packages directly on an ARM device