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There is a similar question was asked before: How can I convert IDX/SUB DVD subtitles into a text SRT subtitle file? more than 6 years ago and the solution is to deal with OCR. There are online tools out there for such conversion, and they just ask to upload the Sub+Idx files and do the job.

I wonder if there is any desktop software for Ubuntu, which can do it offline.

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There is an app called SubtitleEdit. It uses tesseract as backend for OCR stuff. I successfully run it on Arch Linux (it's available in repos) so not sure how to install it on Ubuntu, probably you'll need to build it from source.

There is also vobsub2srt. It is command line only tool which also uses tesseract. You can install it from ppa on Ubuntu.

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