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/usr/bin/imp-mailbox-decode is in php-horde-imp 6.2.21-1ubuntu1.

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#!/usr/bin/php
<?php
/**
 * This script quickly allows conversion between a base64url encoded mailbox
 * name (as used on the webpages) and the IMAP mailbox name (as used on the
 * server).
 *
 * Copyright 2011-2017 Horde LLC (http://www.horde.org/)
 *
 * See the enclosed file COPYING for license information (GPL). If you
 * did not receive this file, see http://www.horde.org/licenses/gpl.
 *
 * @author   Michael Slusarz <slusarz@horde.org>
 * @category Horde
 * @license  http://www.horde.org/licenses/gpl GPL
 * @package  IMP
 */

$baseFile = __DIR__ . '/../lib/Application.php';
if (file_exists($baseFile)) {
    require_once $baseFile;
} else {
    require_once 'PEAR/Config.php';
    require_once PEAR_Config::singleton()
        ->get('horde_dir', null, 'pear.horde.org') . '/imp/lib/Application.php';
}
Horde_Registry::appInit('imp', array(
    'authentication' => false,
    'cli' => true
));

$opts = array(
    1 => 'Decode base64url string => IMAP mailbox',
    2 => 'Encode IMAP mailbox => base64url string'
);

switch ($cli->prompt('Action:', $opts)) {
case 1:
    $encoded = trim($cli->prompt('Base64url encoded mailbox:'));
    $cli->writeln();
    $cli->message($cli->red('IMAP mailbox: ') . IMP_Mailbox::formFrom($encoded));
    break;

case 2:
    $decoded = trim($cli->prompt('IMAP mailbox:'));
    $cli->writeln();
    $cli->message($cli->red('Base64url encoded mailbox: ') . IMP_Mailbox::formTo($decoded));
    break;
}