How to Generate "orb_vocab.dbow2" Format Files ?

[ZQxiaoshi]

I'm trying to train my vocabulary，I have generated the Riyml format file，but how to generate. dbow2 format file?
Is there open source code available?

[saweer]

@ZQxiaoshi
Try to use DBoW2::TemplatedVocabulary::create method to create an ORB vocabulary.
I did it with the KITTI sequences.
https://github.com/shinsumicco/DBoW2/blob/master/include/DBoW2/TemplatedVocabulary.h#L84

[ZQxiaoshi]

@saweer
Thank you very much for your reply.I want to convert Myvoc.txt into an "orb_vocab.dbow2" file.
I've run the specified code and generated the executable “convert_orb_vocab”，When I enter the following command at the terminal:

./convert_orb_vocab /Myvoc.txt /OUT.bin /home/zq/catkin_ws/src/DBoW2/build/ /home/zq/catkin_ws/src/DBoW2/build/

Terminal output:

Usage:
./convert_orb_vocab INPUT_TYPE:(txt|bin) OUTPUT_TYPE:(txt|bin) INPUT_FILEPATH OUTPUT_FILEPATH

Is this a question of command format? What is the correct command format?
Or something else went wrong？

[saweer]

@ZQxiaoshi
Try this:

./convert_orb_vocab txt bin /path/to/Myvoc.txt /path/to/OUT.bin

You may also create a vocabulary in binary format with DBoW2::TemplatedVocabulary::saveToBinaryFile method.
https://github.com/shinsumicco/DBoW2/blob/master/include/DBoW2/TemplatedVocabulary.h#L248

[ZQxiaoshi]

@saweer
Thank you very much! It works correctly!

[shinsumicco]

Thanks, @saweer.