Change back to use text file vocabulary. Super small repo size. (removed big git history, removed vocabulary file and other data files) Do not install Pangolin system wise.
sudo apt-get update sudo apt-get install libopencv-dev=4.5.4 libopencv-python=4.5.4 cmake -DWITH_OPENGL=ON -DENABLE_PRECOMPILED_HEADERS=OFF -DBUILD_opencv_cudacodec ...
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