Convert .box to OVF or OVA

I download some vagrant box from vagrant cloud and I want move them to ESXi and use them as virtual machine,
I search around and can not find best way to do this.
How can I convert vagrant.box to OVF or OVA?

just extract box file with tar xvf virtualboximage.box
ova format is inside. On next step convert ova/ovf to needed format

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