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

1. Clone the project and submodules.

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

2. Use Lynx Magisk module to configure rooted headset and disable SELinux permissions

[TODO]

3. For first configuration and any time you flash the headset, prepare the headset configuration calling this script:

cd SlamService\external\orbslam3lib\dsp && prepareDeviceDemoApp.bat

Use

1. Install the app with -g option

adb install -g .apk

2. Start the application from the Lynx Launcher

Limitations

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

Internal note:
in “Project Setup” section should be replaced with the final github repo.
“Project Setup” add eventual magisk module or requirements.