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Hey, thanks for your answers and sorry for my late reply! I added your hint if(frame.empty()){ continue; } but it didnt't help. I noticed that the program always crashes on cap.release();
Recently I found out that there was running another service on my PC called "arcsoft connect daemon" which came somehow installed with my webcam. After turning it off there are no problems anymore. I was able to call the program about 16.000 times without an error ;)
