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