How to add binary version of vocabulary to speed up ORB-SLAM-Android start ?

[TimoTokki]

In this pull request raulmur/ORB_SLAM2#21, the author converted Vocabulary/ORBvoc.txt to Vocabulary/ORBvoc.bin, which speeds up ORB-SLAM2 start.
But in a Android project, how can I do that?

[vmhoff]

Hi
I can't open this link, but I've adapted the Alejandro Silvestri project to use a binary vocabulary in my ORB-SLAM-Android project.
You just should change the line bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile); in the System.cc file to this one bool bVocLoad = mpVocabulary->loadFromBinaryFile(strVocFile);.
And you should do some changes in the thirdparty DBoW2 library to add the function loadFromBinaryFile, but I guess you can just replace the entire DBoW2 folder for this one:
https://github.com/AlejandroSilvestri/os1/tree/PuntosLejanos/Thirdparty/DBoW2

And, of course, you should replace the vocabulary to the binary version one:
https://github.com/AlejandroSilvestri/os1/blob/PuntosLejanos/orbVoc.bin

[TimoTokki]

Sorry for that, I made a mistake, and now I have corrected it(raulmur/ORB_SLAM2#21).
And，thank you very much