ORB SLAM 3

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Context

This article describes how to use the Lynx ORB Slam implementation optimized for compatible Qualcomm chipsets.
This version uses custom Qualcomm Hardware Accelerators for improved performance and requires to have a rooted device.
 

Prerequisites

Important: Lynx does not recommend to root the device and does not held any responsability about the potential damages you could cause to your device because of root access.

Project setup

First, clone the project and submodules:

git clone https://github.com/Lynx-MR/LynxOrbSlam3 && cd LynxOrbSlam3 && git submodule update --init --recursive


Prepare the headset

Root the device

To root the device, Magisk is an application for generating the file used for root access.  This root access will allow the possibility to the 

Setup

1. Install QFIL and QUD, and download the Lynx Firmware in the “Step 0” section : QFIL Flash Process

2. Follow the documentation (QFIL build, "RESTORE YOUR LYNX-R1 WITH QFIL", all steps) after backing up your device

3. Install Magisk apk : Magisk releases

adb install -g .apk


Generate the patch

1. Push the boot.img file (from the Lynx firmware) on the device

adb push boot.img /sdcard/

2. Launch Magisk app from the Launcher

3. Inside the magisk app, click on Install in the main window, Select and patch a file

4. Your device should goes into 2D Display mode, if this is the case, use scrcpy to navigate

5. Once in the file selection, go on the left side menu, and select Lynx-R1 to access the file.

6. Then finally, click on boot.img (you may need to click it twice) and patch it.

7. Pull the patched file back to your computer, the output path is displayed by Magisk

Ex:
adb pull /storage/emulated/0/Download/ .

 

Flash the headset with the patch

1. Rename boot.img in the QFIL build to boot_old.img

2. Move magisk_patched-[…].img to the QFIL build folder and rename it to boot.img

3a. REDO Step 2 from Setup section (cf. QFIL build, "RESTORE YOUR LYNX-R1 WITH QFIL")

3b. (Alternatively)[ADVANCED] Flash only boot_a + boot_b partitions using the partion manager. 

4. Reinstall Magisk (preferably with the -g option) : adb install -g [your_magisk_apk].apk

5. In the Magisk app, finish setup by clicking on the prompt and waiting the device to reboot

6. Enable shell su commands:

    a. Run adb shell
    b. Type su and accept the permission on the screen quickly
    c. (Note, if failed, you can enable the permission inside the magisk app in the superuser section)
    d. Type exit to return
 

Install Magisk OverlayFS

1. Download the latest release of Magisk OverlayFS: magic_overlayfs

2. Push the module to /sdcard/

adb push .zip /sdcard/

Ex:
adb push magisk-overlayfs-release_v3.2.2-fixed.zip /sdcard/

3. In Magisk + scrcpy, install the module (select the file twice)

4. Reboot the device

Patch the device and create a signature

  1. Verify Hexagon SDK is installed and HEXAGON_SDK_ROOT is set (ex: C:\Qualcomm\Hexagon_SDK\5.5.5.0). You can check it by opening a new command prompt and type echo %HEXAGON_SDK_ROOT% that should return the path of the environment variable.
  2. From the LynxOrbSlam3 project, go to the setup/ folder and run prepareDeviceDemoApp.bat with cmd (not PowerShell)
  3. It should reboot at the end automatically

Install the Lynx Slam Magisk Module

  1. Push setup/LynxSlamModule.zip to /sdcard/
  2. Install it via Magisk (same as OverlayFS)
  3. Reboot the device
  4. Verify:
    1. The device should reboot multiple times without crashing
    2. Run:
      1. adb shell
      2. su
      3. getenforce → must return Permissive

 

Use

1. Install the app with -g option. 

adb install -g .apk

2. Start the application from the Lynx Launcher
 
Alternatively, add the -g flag to the install flags in Android Studio and run it.
 

Limitations

 

Contacts

For any questions, feel free to reach the Lynx team at system-team+6dof@lynx-r.com