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(TODO): rooting the device is not a procedure made by Lynx and take no responsabilities to the damage caused to the device.
 → Even if the process has been successfully reproduced by the Lynx team, we do not held any responsability about the potential damages you could cause to your device because of root access.

Project setup (user build)

First, clone the project and submodules : (TODO INSERT REPO)

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

Prepare the headset

Root the device

  1. Download the latest QFIL build: QFIL build
  2. Follow the documentation after backing up your device
  3. Install Magisk: Magisk releases
  4. Patch boot.img:
    1. Push boot.img to /sdcard/
    2. Select it in Magisk App (Use scrcpy if the device goes into 2D display mode: scrcpy)
    3. Pull the patched file back to your computer
  5. Reflash the device:
    1. Replace boot.img in the QFIL build, or
    2. Flash only boot_a + boot_b partitions
  6. Reinstall Magisk (preferably with the -g option)
  7. In the Magisk app, finish setup by tapping the prompt
  8. Enable shell commands:
    1. Run adb shell
    2. Type su and accept the permission on the screen
    3. Type exit to return

Install Magisk OverlayFS

  1. Download the latest release of Magisk OverlayFS: magic_overlayfs
  2. Push the module to /sdcard/
    1. Example: 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
    1. Example: C:\Qualcomm\Hexagon_SDK\5.5.5.0
  2. 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


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