Creating my own vocabulary

[alejodosr]

Hi,

I am trying to re-create my own vocabulary file, in order to adapt the ORB-SLAM2 algorithm to the camera streaming in a Gazebo simulation. I use DBow2 to create both the vocabulary file _voc.yml.tgz and the _db.yml.tgz.

However, the ORB-SLAM2 algorithm requires a *.txt vocabulary file (that is suppose to be ¿serialized?).

¿How can I generate the *.txt from the files I have mentioned?

Thanks

[raulmur]

Use saveToTextFile function in TemplatedVocabulary.h (the one I provide, not the original one).

[alejodosr]

Thanks, I'll try that funciton. To properly generate the vocabulary, is it needed to use ORB-features? (or SURF can be used..) Sorry if it is a silly question, I am a beginner in this field.

[raulmur]

You have to use ORB features as long as you continue using them in ORB-SLAM.

[agharsh11]

@raulmur i am trying to implement ORB SLAM for underwater images should i make a new vocabulary or the one provided is sufficient....
thanks

[manthan99]

Have a look at this repo for step by step procedure to create your own vocabulary:
https://github.com/manthan99/ORB_SLAM_vocab-build