ORB SLAM 3

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Context

This article describes how to use the Lynx ORB Slam implementation for DSP on Qualcomm chipset.
This version uses QC CVP for optimization and stability and requires to have a rooted device.

Prerequisites

Android Studio Narwhal 2025.1.2
Qualcomm Hexagon SDK 5.5.5.0
Define an HEXAGON_SDK_ROOT environment variable pointing to Qualcomm Hexagon SDK path
Rooted device (cf. https://lynx.miraheze.org/wiki/Rooting_Process )

Important: rooting the device is not a procedure made by Lynx and take no responsabilities to the damage caused to the device.

Project setup

Clone the project and submodules.

git clone  && cd LynxOrbSlam3 && git submodule update --init --recursive

Use

1. Install the app with -g option

adb install -g .apk

2. Sign the device for dsp access
Windows:

 %HEXAGON_SDK_ROOT%/setup_sdk_env.cmd && python3 %HEXAGON_SDK_ROOT%/utils/scripts/signer.py

Linux:

 $HEXAGON_SDK_ROOT/setup_sdk_env.cmd && python3 $HEXAGON_SDK_ROOT/utils/scripts/signer.py

3. Give permission to cvp folder

adb wait-for-device root && adb wait-for-device remount && adb wait-for-device chmod 666 /dev/cvp

4. Disable SELinux policies for DSP and CVP use

adb wait-for-device root && adb wait-for-device shell setenforce 0

5. Start the application from the Lynx Launcher
6. (Important) Remove testsig from /vendor/lib/rfsa/adsp/ to avoid reboot issue

adb shell rm -f /vendor/lib/rfsa/adsp/testsig*

Limitations

Windows support only for now
CVP optimization requires to have rooted device

Internal note: depending on Magisk scripts we are working, remove steps 3, 4 and 6. And use step 2 only once after project build or remove this step if automated in Android Studio build process.
in “Project Setup” section should be replaced with the final github repo.
“Project Setup” add eventual magisk module or requirements.