Why need ORBvoc.txt?

[craftindo]

When I create an empty txt file, the code exited -1. Why?

1. Does that mean, when I run a brand new video, it will not work?
2. I thought building vocabulary of the scenery requires offline building database. If so, how does it work?

[melhashash]

When I create an empty txt file, the code exited -1. Why?

The file cannot be empty; it is like the vocabulary dictionary needed for using BoW, which was generated/trained offline by the original authors.

1. Does that mean, when I run a brand new video, it will not work?

You can use the original file to run any dataset. You can also generate your own vocabulary if you want and then use it.

2. I thought building vocabulary of the scenery requires offline building database. If so, how does it work?

The file is built before running the SLAM pipeline.