muziyongshixin / orb-slam2-based-ar-on-android Goto Github PK

the following is the logcat in the android studio:
2021-11-25 14:55:30.161 19781-19781/com.android.settings E/Settings: Unable to find info for package: null
2021-11-25 14:55:30.174 27937-27937/? E/AndroidRuntime: FATAL EXCEPTION: main
Process: com.example.ys.orbtest, PID: 27937
java.lang.UnsatisfiedLinkError: dlopen failed: library "libnative-lib.so" not found
at java.lang.Runtime.loadLibrary0(Runtime.java:1077)
at java.lang.Runtime.loadLibrary0(Runtime.java:998)
at java.lang.System.loadLibrary(System.java:1656)
at com.example.ys.orbtest.OrbTest.(OrbTest.java:191)
at java.lang.Class.newInstance(Native Method)
at android.app.AppComponentFactory.instantiateActivity(AppComponentFactory.java:95)
at android.app.Instrumentation.newActivity(Instrumentation.java:1274)
at android.app.ActivityThread.performLaunchActivity(ActivityThread.java:3535)
at android.app.ActivityThread.handleLaunchActivity(ActivityThread.java:3795)
at android.app.servertransaction.LaunchActivityItem.execute(LaunchActivityItem.java:103)
at android.app.servertransaction.TransactionExecutor.executeCallbacks(TransactionExecutor.java:135)
at android.app.servertransaction.TransactionExecutor.execute(TransactionExecutor.java:95)
at android.app.ActivityThread$H.handleMessage(ActivityThread.java:2207)
at android.os.Handler.dispatchMessage(Handler.java:106)
at android.os.Looper.loopOnce(Looper.java:356)
at android.os.Looper.loop(Looper.java:475)
at android.app.ActivityThread.main(ActivityThread.java:7880)
at java.lang.reflect.Method.invoke(Native Method)
at com.android.internal.os.RuntimeInit$MethodAndArgsCaller.run(RuntimeInit.java:548)
at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:988)
2021-11-25 14:55:30.371 19781-19781/com.android.settings E/Settings: Unable to find info for package: null
2021-11-25 14:55:31.020 1097-4716/? E/ANDR-PERF-LM: VmRssMeter:: start() 447: Could not find pid, can not collect vmrss data
2021-11-25 14:55:31.020 1097-4716/? E/ANDR-PERF-LM: AdaptiveLaunch: writeToDataBase() 64: Meter aborted or could not get meter data for this run
2021-11-25 14:55:31.029 1097-4714/? E/ANDR-PERF-LM: VmRssMeter:: start() 447: Could not find pid, can not collect vmrss data
2021-11-25 14:55:32.055 1097-1434/? E/ANDR-PERF-UTIL: Failed to update node /proc/27937/sched_boost with value 0
2021-11-25 14:55:32.055 1097-1434/? E/ANDR-PERF-OPTSHANDLER: can't reset task 27937
2021-11-25 14:55:32.055 1097-1434/? E/ANDR-PERF-RESOURCEQS: Failed to reset optimization [3, 32]
2021-11-25 14:55:33.605 29299-29299/? E/app_process: Default boot image check failed, could not stat: /data/misc/apexdata/com.android.art/dalvik-cache/boot-framework.art: Permission denied
2021-11-25 14:55:33.612 29324-29324/? E/app_process: Failed to execve(/apex/com.android.art/bin/dex2oat64 --runtime-arg -Xbootclasspath:/apex/com.android.art/javalib/core-oj.jar:/apex/com.android.art/javalib/core-libart.jar:/apex/com.android.art/javalib/okhttp.jar:/apex/com.android.art/javalib/bouncycastle.jar:/apex/com.android.art/javalib/apache-xml.jar:/system/framework/framework.jar:/system/framework/framework-graphics.jar:/system/framework/ext.jar:/system/framework/telephony-common.jar:/system/framework/voip-common.jar:/system/framework/ims-common.jar:/apex/com.android.i18n/javalib/core-icu4j.jar:/system/framework/tcmiface.jar:/system/framework/telephony-ext.jar:/system/framework/qcom.fmradio.jar:/system/framework/QPerformance.jar:/system/framework/UxPerformance.jar:/system/framework/WfdCommon.jar --runtime-arg -Xbootclasspath-locations:/apex/com.android.art/javalib/core-oj.jar:/apex/com.android.art/javalib/core-libart.jar:/apex/com.android.art/javalib/okhttp.jar:/apex/com.android.art/javalib/bouncycastle.jar:/apex/com.android.art/javalib/apache-xml.jar:/system/framework/framework.jar:/system/framework/framework-graphics.jar:/system/framework/ext.jar:/system/framework/telephony-common.jar:/system/framework/voip-common.jar:/system/framework/ims-common.jar:/apex/com.android.i18n/javalib/core-icu4j.jar:/system/framework/tcmiface.jar:/system/framework/telephony-ext.jar:/system/framework/qcom.fmradio.jar:/system/framework/QPerformance.jar:/system/framework/UxPerformance.jar:/system/framework/WfdCommon.jar --boot-image=/apex/com.android.art/javalib/boot.art --dex-file=/system/framework/framework.jar --dex-location=/system/framework/framework.jar --dex-file=/system/framework/framework-graphics.jar --dex-location=/system/framework/framework-graphics.jar --dex-file=/system/framework/ext.jar --dex-location=/system/framework/ext.jar --dex-file=/system/framework/telephony-common.jar --dex-location=/system/framework/telephony-common.jar --dex-file=/system/framework/voip-common.jar --dex-location=/system/framework/voip-common.jar --dex-file=/system/framework/ims-common.jar --dex-location=/system/framework/ims-common.jar --dex-file=/apex/com.android.i18n/javalib/core-icu4j.jar --dex-location=/apex/com.android.i18n/javalib/core-icu4j.jar --dex-file=/system/framework/tcmiface.jar --dex-location=/system/framework/tcmiface.jar --dex-file=/system/framework/telephony-ext.jar --dex-location=/system/framework/telephony-ext.jar --dex-file=/system/framework/qcom.fmradio.jar --dex-location=/system/framework/qcom.fmradio.jar --dex-file=/system/framework/QPerformance.jar --dex-location=/system/framework/QPerformance.jar --dex-file=/system/framework/UxPerformance.jar --dex-location=/system/framework/UxPerformance.jar --dex-file=/system/framework/WfdCommon.jar --dex-location=/system/framework/WfdCommon.jar --image-fd=6 --output-vdex-fd=7 --oat-fd=8 --oat-location=/system/framework/arm64/boot.oat --single-image --image-format=uncompressed --compiler-filter=verify --profile-file=/system/etc/boot-image.prof --avoid-storing-invocation --instruction-set=arm64 --instruction-set-features=runtime --runtime-arg -Xms64m --runtime-arg -Xmx64m --dirty-image-objects=/system/etc/dirty-image-objects --instruction-set-variant=generic --instruction-set-features=default --generate-mini-debug-info): Permission denied
2021-11-25 14:55:33.975 29299-29299/? E/app_process: Could not check odex file /data/misc/apexdata/com.android.art/dalvik-cache/arm64/system@framework@[email protected]: Permission denied
2021-11-25 14:55:38.001 19781-27529/com.android.settings E/ndroid.setting: Invalid ID 0x00000000.
2021-11-25 14:55:38.003 19781-27529/com.android.settings E/ndroid.setting: Invalid ID 0x00000000.
2021-11-25 14:55:38.003 19781-27529/com.android.settings E/ndroid.setting: Invalid ID 0x00000000.
2021-11-25 14:55:38.004 19781-27529/com.android.settings E/ndroid.setting: Invalid ID 0x00000000.
2021-11-25 14:55:38.005 19781-27529/com.android.settings E/ndroid.setting: Invalid ID 0x00000000.
2021-11-25 14:55:38.005 19781-27529/com.android.settings E/ndroid.setting: Invalid ID 0x00000000.
2021-11-25 14:55:38.006 19781-27529/com.android.settings E/ndroid.setting: Invalid ID 0x00000000.
2021-11-25 14:55:38.007 19781-27529/com.android.settings E/ndroid.setting: Invalid ID 0x00000000.
2021-11-25 14:55:38.007 19781-27529/com.android.settings E/ndroid.setting: Invalid ID 0x00000000.
2021-11-25 14:55:38.008 19781-27529/com.android.settings E/ndroid.setting: Invalid ID 0x00000000.
2021-11-25 14:55:40.715 1097-1435/? E/ANDR-PERF-LM: GamePerfEngine: runAsync() 477: Hint is for = 0x1043 PID=2116
2021-11-25 14:55:40.756 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:40.758 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:40.830 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:40.831 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:40.832 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:43.289 1133-2594/? E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:43.309 1133-2594/? E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:43.334 1133-1185/? E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:43.364 1133-1185/? E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:43.367 1133-2594/? E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:44.253 29457-29457/? E/librank: Failed to parse /proc/29516/maps
2021-11-25 14:55:44.253 29457-29457/? E/librank: Failed to read maps for Process 29516
2021-11-25 14:55:44.253 29457-29457/? E/librank: Failed to parse /proc/29528/maps
2021-11-25 14:55:44.253 29457-29457/? E/librank: Failed to read maps for Process 29528
2021-11-25 14:55:44.270 1097-4716/? E/ANDR-PERF-LM: VmRssMeter:: start() 447: Could not find pid, can not collect vmrss data
2021-11-25 14:55:44.270 1097-4716/? E/ANDR-PERF-LM: AdaptiveLaunch: writeToDataBase() 64: Meter aborted or could not get meter data for this run
2021-11-25 14:55:44.276 1097-4714/? E/ANDR-PERF-LM: VmRssMeter:: start() 447: Could not find pid, can not collect vmrss data
2021-11-25 14:55:45.059 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:45.060 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:45.159 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:45.162 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:45.164 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:51.071 27519-27991/? E/dumpstate: No IDumpstateDevice implementation
2021-11-25 14:55:51.071 27519-27991/? E/dumpstate: Failed to unlink file (/data/user_de/0/com.android.shell/files/bugreports/dumpstate_board.bin): No such file or directory
2021-11-25 14:55:51.071 27519-27991/? E/dumpstate: Failed to unlink file (/data/user_de/0/com.android.shell/files/bugreports/dumpstate_board.txt): No such file or directory
2021-11-25 14:55:51.092 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:51.093 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:51.253 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:51.256 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:51.257 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:51.755 27519-27519/? E/dumpstate: *** command '/system/xbin/su root sh -c cat /proc/modules | cut -d' ' -f1 | while read MOD ; do echo modinfo:$MOD ; modinfo $MOD ; done' failed: exit code 1
2021-11-25 14:55:51.784 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:51.786 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:51.877 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:51.878 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:51.879 2116-2167/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:52.674 2116-6078/system_process E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:52.674 1097-1435/? E/ANDR-PERF-LM: MetaMeter: handleAsync() 166: AdaptLaunch Invalid Async
2021-11-25 14:55:52.675 2116-6078/system_process E/ANDR-PERF-JNI: com_qualcomm_qtiperformance_native_perf_io_prefetch_start
2021-11-25 14:55:52.678 1097-1435/? E/ANDR-PERF-LM: MetaMeter: handleAsync() 166: AdaptLaunch Invalid Async
2021-11-25 14:55:52.698 1095-1296/? E/ANDR-IOP: io prefetch is disabled
2021-11-25 14:55:52.724 1097-1435/? E/ANDR-PERF-LM: MetaMeter: handleAsync() 166: AdaptLaunch Invalid Async
2021-11-25 14:55:52.742 1133-4321/? E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
2021-11-25 14:55:52.759 1133-4321/? E/ANDR-PERF: IPerf:: Perf HAL Service is not available.
\

The reason is that the native-lib can't find .But I don't know how can I generate the "libnative-lib.so",and where I should put it.
anyone has the idea? thanks in advance.

Hello. When i open the app,it shows SLAM NOT INITIALIZED. How can i solve this problem?

I get opencv2/core/core.hpp: No such file or directory error for dbow

Hi ,
Do you try this on other devices? how to calibrate for other device and generate the file like mi6.yaml?
I tried on Samsung S7, always show "SLAM NOT INITIALIZED“

您好，如题，我看您的代码写了Plane类并用在native-lib.cpp里，不明白if(instialized == false){后面那段代码的意思，能简要讲解一下吗？ 谢谢～

hello,
when I build your code using cmake and make in app folder, it shows error:

/xxx/ORB-SLAM2-based-AR-on-Android/app/src/main/cpp/ORB/src/ORBextractor.cc:812: undefined reference to `cv::FAST(cv::_InputArray const&, std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int, bool)'
/xxx/ORB-SLAM2-based-AR-on-Android/app/src/main/cpp/ORB/src/ORBextractor.cc:817: undefined reference to `cv::FAST(cv::_InputArray const&, std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int, bool)'
libORBSLAM2.a(ORBextractor.cc.o): In function `ORB_SLAM2::ORBextractor::ComputeKeyPointsOctTree(std::__ndk1::vector<std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >, std::__ndk1::allocator<std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> > > >&)':
/xxx/ORB-SLAM2-based-AR-on-Android/app/src/main/cpp/ORB/src/ORBextractor.cc:917: undefined reference to `cv::FAST(cv::_InputArray const&, std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int, bool)'
/xxx/ORB-SLAM2-based-AR-on-Android/app/src/main/cpp/ORB/src/ORBextractor.cc:922: undefined reference to `cv::FAST(cv::_InputArray const&, std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int, bool)'
libORBSLAM2.a(ORBextractor.cc.o): In function `ORB_SLAM2::ORBextractor::ComputeKeyPointsOld(std::__ndk1::vector<std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >, std::__ndk1::allocator<std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> > > >&)':
/xxx/ORB-SLAM2-based-AR-on-Android/app/src/main/cpp/ORB/src/ORBextractor.cc:1045: undefined reference to `cv::FAST(cv::_InputArray const&, std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int, bool)'
libORBSLAM2.a(ORBextractor.cc.o):/search/odin/gongzhenting/work/image/slam/ORB-SLAM2-based-AR-on-Android/app/src/main/cpp/ORB/src/ORBextractor.cc:1051: more undefined references to `cv::FAST(cv::_InputArray const&, std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int, bool)' follow
libORBSLAM2.a(ORBextractor.cc.o): In function `ORB_SLAM2::ORBextractor::ComputeKeyPointsOld(std::__ndk1::vector<std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >, std::__ndk1::allocator<std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> > > >&)':
/xxx/ORB-SLAM2-based-AR-on-Android/app/src/main/cpp/ORB/src/ORBextractor.cc:1116: undefined reference to `cv::KeyPointsFilter::retainBest(std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int)'
/xxx/ORB-SLAM2-based-AR-on-Android/app/src/main/cpp/ORB/src/ORBextractor.cc:1134: undefined reference to `cv::KeyPointsFilter::retainBest(std::__ndk1::vector<cv::KeyPoint, std::__ndk1::allocator<cv::KeyPoint> >&, int)'
clang++: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [out/arm64-v8a/libnative-lib.so] Error 1

my build.sh in /xxx/ORB-SLAM2-based-AR-on-Android/app/build folder is:

NDK_PATH=/yyy/android-ndk-r19c/
BUILD_PATH="arm64-v8a"

cmake \
-H".." \
-B"$BUILD_PATH" \
-DANDROID_ABI="arm64-v8a" \
-DANDROID_NDK=$NDK_PATH \
-DCMAKE_BUILD_TYPE="Release" \
-DCMAKE_TOOLCHAIN_FILE="$NDK_PATH/build/cmake/android.toolchain.cmake" \
-DANDROID_PLATFORM="android-21" \
-DANDROID_TOOLCHAIN="clang" \
-DCMAKE_C_FLAGS="-fpic -fexceptions -frtti" \
-DCMAKE_CXX_FLAGS="-fpic -fexceptions -frtti" \
-DANDROID_STL="c++_shared" \

cd arm64-v8a
make -j8 

And I have tried opencv-3.4.7-android-sdk or opencv-3.0.0-android-sdk.

How to fix the error?
Can you give some advises?
Thanks

I gave the proper permissions to the app,and added the Calibration .yaml file and vocabulary file in right directories but still the app fails to start.
I am getting an error at System.loadLibrary("native-lib") on line 191 of OrbTest.java

logs show
at java.lang.Runtime.loadLibrary(Runtime.java:367)
at java.lang.System.loadLibrary(System.java:1076)
at com.example.ys.orbtest.OrbTest.(OrbTest.java:191)
at java.lang.Class.newInstance(Native Method)
at android.app.Instrumentation.newActivity(Instrumentation.java:1067)
at android.app.ActivityThread.performLaunchActivity(ActivityThread.java:2317)
at android.app.ActivityThread.handleLaunchActivity(ActivityThread.java:2476)
at android.app.ActivityThread.-wrap11(ActivityThread.java)
at android.app.ActivityThread$H.handleMessage(ActivityThread.java:1344)
at android.os.Handler.dispatchMessage(Handler.java:102)
at android.os.Looper.loop(Looper.java:148)
at android.app.ActivityThread.main(ActivityThread.java:5417)
at java.lang.reflect.Method.invoke(Native Method)
at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:726)
at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:616)
Application terminated.

The values used in MatrixState.set_projection_matrix() don't match fx, fy, cx, cy values from what I see in the calibration yaml. Where do they come from? I'm also curious why not use projection matrix functions already available in OpenGL, like Matrix.projectionM() and Matrix.frustrumM(). It looks like you tried but then created your own custom matrix. Did the OpenGL functions not work? Thanks, just trying to learn.

你好，ORB-SLAM每次初始化的时候世界坐标系位置都是不确定的，那么在应用到增强现实中的时候同一个虚拟物体的渲染位置就会一直变化，请问您是怎么解决这个问题的？

Hi, 首先为你的项目点个赞。请问在手机上运行的这个ORB-SLAM2，闭环检测部分是开着的吗？比较好奇DBoW2在手机上跑的性能如何？期待回复，谢谢！

Hey, i tried running this app on Mi Max 2 android phone but the app is not starting camera preview I have given the camera permissions as well

ll

My logs for reference

2021-10-27 14:52:37.574 8823-8823/? I/OrbTest::Activity@@java: called onCreate
2021-10-27 14:52:37.576 1781-1781/? D/EventBus: [1781, u0] send(AppTransitionFinishedEvent)
2021-10-27 14:52:37.576 1781-1781/? D/EventBus: [1781, u0] -> ForcedResizableInfoActivityController [0x3ba708, P1] onBusEvent(AppTransitionFinishedEvent)
2021-10-27 14:52:37.576 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 691: Not performing software digesting for algorithm 32
2021-10-27 14:52:37.576 1781-1781/? D/EventBus: [1781, u0] onBusEvent(AppTransitionFinishedEvent) duration: 27 microseconds, avg: 538
2021-10-27 14:52:37.576 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 1202: Operation supported by Keymaster QTI HAL, passing through to keymaster1 module
2021-10-27 14:52:37.578 8823-8823/? D/AccessibilityManager: current package=com.example.ys.orbtest, accessibility manager mIsFinalEnabled=false, mOptimizeEnabled=false, mIsUiAutomationEnabled=false, mIsInterestedPackage=false
2021-10-27 14:52:37.594 1568-2057/? I/Timeline: Timeline: App_transition_ready time:18287056
2021-10-27 14:52:37.598 8823-8823/? D/CameraBridge: Attr count: 6
2021-10-27 14:52:37.604 8823-8823/? I/TypefaceUtils: Typeface has no familyName field
2021-10-27 14:52:37.614 8823-8823/? I/OrbTest::Activity@@java: %YAML:1.0+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.614 8823-8823/? I/OrbTest::Activity@@java: +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.615 8823-8823/? I/OrbTest::Activity@@java: #--------------------------------------------------------------------------------------------+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.615 8823-8823/? I/OrbTest::Activity@@java: # Camera Parameters. Adjust them!+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.615 8823-8823/? I/OrbTest::Activity@@java: #--------------------------------------------------------------------------------------------+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.616 8823-8823/? I/OrbTest::Activity@@java: +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.616 8823-8823/? I/OrbTest::Activity@@java: # Camera calibration and distortion parameters (OpenCV) +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.616 8823-8823/? I/OrbTest::Activity@@java: Camera.fx: 752.277145+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.616 8823-8823/? I/OrbTest::Activity@@java: Camera.fy: 752.277145+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.616 8823-8823/? I/OrbTest::Activity@@java: Camera.cx: 403.000000+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.616 8823-8823/? I/OrbTest::Activity@@java: Camera.cy: 301.500000+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.617 8823-8823/? I/OrbTest::Activity@@java: +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.617 1781-1781/? W/View: requestLayout() improperly called by android.widget.TextView{e560f33 V.ED..... ......ID 0,0-723,0 #91301b9 com.android.systemui:id/lock_screen_magazine_preview_fullscreen_bottom_title_layout_title} during layout: running second layout pass
2021-10-27 14:52:37.617 1781-1781/? W/View: requestLayout() improperly called by android.widget.ImageView{7b832f0 V.ED..CL. ......ID 742,0-808,0 #91301ba com.android.systemui:id/lock_screen_magazine_preview_fullscreen_bottom_title_layout_link} during layout: running second layout pass
2021-10-27 14:52:37.617 8823-8823/? I/OrbTest::Activity@@java: Camera.k1: 0.000000+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.617 8823-8823/? I/OrbTest::Activity@@java: Camera.k2: 0.000000+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.617 8823-8823/? I/OrbTest::Activity@@java: Camera.p1: 0.000000+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.618 8823-8823/? I/OrbTest::Activity@@java: Camera.p2: 0.000000+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.618 8823-8823/? I/OrbTest::Activity@@java: Camera.k3: 1.000000+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.618 8823-8823/? I/OrbTest::Activity@@java: +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.618 8823-8823/? I/OrbTest::Activity@@java: # Camera frames per second +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.618 8823-8823/? I/OrbTest::Activity@@java: Camera.fps: 30.0+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.618 8823-8823/? I/OrbTest::Activity@@java: +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.619 8823-8823/? I/OrbTest::Activity@@java: # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.619 8823-8823/? I/OrbTest::Activity@@java: Camera.RGB: 1+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.619 8823-8823/? I/OrbTest::Activity@@java: +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.620 8823-8823/? I/OrbTest::Activity@@java: #--------------------------------------------------------------------------------------------+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.620 8823-8823/? I/OrbTest::Activity@@java: # ORB Parameters+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.621 8823-8823/? I/OrbTest::Activity@@java: #--------------------------------------------------------------------------------------------+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.621 8823-8823/? I/OrbTest::Activity@@java: +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.621 8823-8823/? I/OrbTest::Activity@@java: # ORB Extractor: Number of features per image+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.622 8823-8823/? I/OrbTest::Activity@@java: ORBextractor.nFeatures: 800+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.622 8823-8823/? I/OrbTest::Activity@@java: +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.622 8823-8823/? I/OrbTest::Activity@@java: # ORB Extractor: Scale factor between levels in the scale pyramid +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.622 8823-8823/? I/OrbTest::Activity@@java: ORBextractor.scaleFactor: 1.2+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.623 8823-8823/? I/OrbTest::Activity@@java: +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.623 8823-8823/? I/OrbTest::Activity@@java: # ORB Extractor: Number of levels in the scale pyramid +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.623 8823-8823/? I/OrbTest::Activity@@java: ORBextractor.nLevels: 8+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.623 8823-8823/? I/OrbTest::Activity@@java: +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.624 8823-8823/? I/OrbTest::Activity@@java: # ORB Extractor: Fast threshold+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.624 8823-8823/? I/OrbTest::Activity@@java: # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.625 8823-8823/? I/OrbTest::Activity@@java: # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.626 8823-8823/? I/OrbTest::Activity@@java: # You can lower these values if your images have low contrast +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.626 8823-8823/? I/OrbTest::Activity@@java: ORBextractor.iniThFAST: 20+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.626 8823-8823/? I/OrbTest::Activity@@java: ORBextractor.minThFAST: 7+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.626 8823-8823/? I/OrbTest::Activity@@java: +++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.626 1568-1596/? I/Timeline: Timeline: App_transition_ready time:18287089
2021-10-27 14:52:37.626 8823-8823/? I/OrbTest::Activity@@java: #--------------------------------------------------------------------------------------------+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.627 8823-8823/? I/OrbTest::Activity@@java: # Viewer Parameters+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.627 8823-8823/? I/OrbTest::Activity@@java: #--------------------------------------------------------------------------------------------+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.628 8823-8823/? I/OrbTest::Activity@@java: Viewer.KeyFrameSize: 0.05+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.628 8823-8823/? I/OrbTest::Activity@@java: Viewer.KeyFrameLineWidth: 1+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.628 8823-8823/? I/OrbTest::Activity@@java: Viewer.GraphLineWidth: 0.9+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.628 8823-8823/? I/OrbTest::Activity@@java: Viewer.PointSize:2+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.629 8823-8823/? I/OrbTest::Activity@@java: Viewer.CameraSize: 0.08+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.629 8823-8823/? I/OrbTest::Activity@@java: Viewer.CameraLineWidth: 3+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.629 8823-8823/? I/OrbTest::Activity@@java: Viewer.ViewpointX: 0+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.629 8823-8823/? I/OrbTest::Activity@@java: Viewer.ViewpointY: -0.7+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.630 8823-8823/? I/OrbTest::Activity@@java: Viewer.ViewpointZ: -1.8+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.630 8823-8823/? I/OrbTest::Activity@@java: Viewer.ViewpointF: 500+++++++++++++++++++++++++++++++++++++++
2021-10-27 14:52:37.633 18388-18423/? I/SP: Sync for content_cache succeeded in 121 ms: no changes
2021-10-27 14:52:37.634 18388-18423/? I/SP: GC for 'content_cache' (10) with ttl of 0 ms took 0 ms (0/0/0)
2021-10-27 14:52:37.634 8782-8782/? D/OT-PubSub-Sdk: updateDebugSwitch sEnable: false sDebugMode：false sDebugProperty：false
2021-10-27 14:52:37.634 8782-8782/? D/OT-PubSub-Sdk: log on: false, quick upload on: false
2021-10-27 14:52:37.637 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 691: Not performing software digesting for algorithm 32
2021-10-27 14:52:37.637 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 1202: Operation supported by Keymaster QTI HAL, passing through to keymaster1 module
2021-10-27 14:52:37.638 8782-8782/? I/AD-PLUGIN-SplashScreenService: onCreate()
2021-10-27 14:52:37.638 8782-8782/? I/AD-PLUGIN-SplashScreenService: ApiVersion: 2
2021-10-27 14:52:37.638 1781-1781/? D/BluetoothController: fireStateChange
2021-10-27 14:52:37.639 8823-8823/? D/OpenCV/StaticHelper: Trying to get library list
2021-10-27 14:52:37.640 8823-8823/? E/OpenCV/StaticHelper: OpenCV error: Cannot load info library for OpenCV
2021-10-27 14:52:37.641 8823-8823/? D/OpenCV/StaticHelper: Library list: ""
2021-10-27 14:52:37.641 8823-8823/? D/OpenCV/StaticHelper: First attempt to load libs
2021-10-27 14:52:37.641 8823-8823/? D/OpenCV/StaticHelper: Trying to init OpenCV libs
2021-10-27 14:52:37.641 8823-8823/? D/OpenCV/StaticHelper: Trying to load library opencv_java4
2021-10-27 14:52:37.643 8823-8823/? D/OpenCV/StaticHelper: Library opencv_java4 loaded
2021-10-27 14:52:37.643 8823-8823/? D/OpenCV/StaticHelper: First attempt to load libs is OK
2021-10-27 14:52:37.643 1568-1724/? I/Timeline: Timeline: App_transition_ready time:18287106
2021-10-27 14:52:37.644 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 691: Not performing software digesting for algorithm 32
2021-10-27 14:52:37.644 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 1202: Operation supported by Keymaster QTI HAL, passing through to keymaster1 module
2021-10-27 14:52:37.644 8823-8823/? I/OpenCV/StaticHelper: General configuration for OpenCV 4.2.0 =====================================
2021-10-27 14:52:37.644 8823-8823/? I/OpenCV/StaticHelper: Version control: 4.2.0
2021-10-27 14:52:37.644 8823-8823/? I/OpenCV/StaticHelper: Platform:
2021-10-27 14:52:37.644 8823-8823/? I/OpenCV/StaticHelper: Timestamp: 2019-12-20T13:59:46Z
2021-10-27 14:52:37.644 8823-8823/? I/OpenCV/StaticHelper: Host: Linux 4.4.0-166-generic x86_64
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: Target: Android 1 aarch64
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: CMake: 3.6.0-rc2
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: CMake generator: Ninja
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: CMake build tool: /opt/android/android-sdk.gradle/cmake/3.6.4111459/bin/ninja
2021-10-27 14:52:37.645 1568-1724/? I/Timeline: Timeline: App_transition_ready time:18287108
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: Configuration: Release
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: CPU/HW features:
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: Baseline: NEON FP16
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: C/C++:
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: Built as dynamic libs?: NO
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: C++ Compiler: /opt/android/android-ndk-r18b/toolchains/llvm/prebuilt/linux-x86_64/bin/clang++ (ver 7.0)
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: C++ flags (Release): -isystem /opt/android/android-ndk-r18b/sysroot/usr/include/aarch64-linux-android -DANDROID -ffunction-sections -funwind-tables -fstack-protector-strong -no-canonical-prefixes -Wa,--noexecstack -Wformat -Werror=format-security -std=c++11 -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Winconsistent-missing-override -Wno-delete-non-virtual-dtor -Wno-unnamed-type-template-args -Wno-comment -fdiagnostics-show-option -Qunused-arguments -fvisibility=hidden -fvisibility-inlines-hidden -O2 -DNDEBUG -DNDEBUG
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: C++ flags (Debug): -isystem /opt/android/android-ndk-r18b/sysroot/usr/include/aarch64-linux-android -DANDROID -ffunction-sections -funwind-tables -fstack-protector-strong -no-canonical-prefixes -Wa,--noexecstack -Wformat -Werror=format-security -std=c++11 -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Winconsistent-missing-override -Wno-delete-non-virtual-dtor -Wno-unnamed-type-template-args -Wno-comment -fdiagnostics-show-option -Qunused-arguments -fvisibility=hidden -fvisibility-inlines-hidden -O0 -fno-limit-debug-info -DDEBUG -D_DEBUG -g
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: C Compiler: /opt/android/android-ndk-r18b/toolchains/llvm/prebuilt/linux-x86_64/bin/clang
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: C flags (Release): -isystem /opt/android/android-ndk-r18b/sysroot/usr/include/aarch64-linux-android -DANDROID -ffunction-sections -funwind-tables -fstack-protector-strong -no-canonical-prefixes -Wa,--noexecstack -Wformat -Werror=format-security -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Winconsistent-missing-override -Wno-delete-non-virtual-dtor -Wno-unnamed-type-template-args -Wno-comment -fdiagnostics-show-option -Qunused-arguments -fvisibility=hidden -fvisibility-inlines-hidden -O2 -DNDEBUG -DNDEBUG
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: C flags (Debug): -isystem /opt/android/android-ndk-r18b/sysroot/usr/include/aarch64-linux-android -DANDROID -ffunction-sections -funwind-tables -fstack-protector-strong -no-canonical-prefixes -Wa,--noexecstack -Wformat -Werror=format-security -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Winconsistent-missing-override -Wno-delete-non-virtual-dtor -Wno-unnamed-type-template-args -Wno-comment -fdiagnostics-show-option -Qunused-arguments -fvisibility=hidden -fvisibility-inlines-hidden -O0 -fno-limit-debug-info -DDEBUG -D_DEBUG -g
2021-10-27 14:52:37.645 8823-8823/? I/OpenCV/StaticHelper: Linker flags (Release): -Wl,--exclude-libs,libgcc.a -Wl,--exclude-libs,libatomic.a -nostdlib++ --sysroot /opt/android/android-ndk-r18b/platforms/android-21/arch-arm64 -Wl,--build-id -Wl,--warn-shared-textrel -Wl,--fatal-warnings -L/opt/android/android-ndk-r18b/sources/cxx-stl/llvm-libc++/libs/arm64-v8a -Wl,--no-undefined -Wl,-z,noexecstack -Qunused-arguments -Wl,-z,relro -Wl,-z,now
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Linker flags (Debug): -Wl,--exclude-libs,libgcc.a -Wl,--exclude-libs,libatomic.a -nostdlib++ --sysroot /opt/android/android-ndk-r18b/platforms/android-21/arch-arm64 -Wl,--build-id -Wl,--warn-shared-textrel -Wl,--fatal-warnings -L/opt/android/android-ndk-r18b/sources/cxx-stl/llvm-libc++/libs/arm64-v8a -Wl,--no-undefined -Wl,-z,noexecstack -Qunused-arguments -Wl,-z,relro -Wl,-z,now
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: ccache: YES
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Precompiled headers: NO
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Extra dependencies: z dl m log
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: 3rdparty dependencies: tbb libcpufeatures ittnotify libprotobuf libjpeg-turbo libwebp libpng libtiff libjasper IlmImf quirc tegra_hal
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: OpenCV modules:
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: To be built: calib3d core dnn features2d flann highgui imgcodecs imgproc java ml objdetect photo stitching video videoio
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Disabled: world
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Disabled by dependency: -
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Unavailable: gapi js python2 python3 ts
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Applications: -
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Documentation: NO
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Non-free algorithms: NO
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Android NDK: /opt/android/android-ndk-r18b (ver 18.1.5063045)
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Android ABI: arm64-v8a
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: NDK toolchain: aarch64-linux-android-clang
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: STL type: c++_shared
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Native API level: 21
2021-10-27 14:52:37.646 8823-8823/? I/OpenCV/StaticHelper: Android SDK: /opt/android/android-sdk.gradle (tools: 26.1.1 build tools: 28.0.3)
2021-10-27 14:52:37.647 8823-8823/? I/OpenCV/StaticHelper: GUI:
2021-10-27 14:52:37.647 8823-8823/? I/OpenCV/StaticHelper: Media I/O:
2021-10-27 14:52:37.647 8823-8823/? I/OpenCV/StaticHelper: ZLib: z (ver 1.2.7)
2021-10-27 14:52:37.647 8823-8823/? I/OpenCV/StaticHelper: JPEG: build-libjpeg-turbo (ver 2.0.2-62)
2021-10-27 14:52:37.647 8823-8823/? I/OpenCV/StaticHelper: WEBP: build (ver encoder: 0x020e)
2021-10-27 14:52:37.647 8823-8823/? I/OpenCV/StaticHelper: PNG: build (ver 1.6.37)
2021-10-27 14:52:37.647 8823-8823/? I/OpenCV/StaticHelper: TIFF: build (ver 42 - 4.0.10)
2021-10-27 14:52:37.647 8823-8823/? I/OpenCV/StaticHelper: JPEG 2000: build (ver 1.900.1)
2021-10-27 14:52:37.647 8823-8823/? I/OpenCV/StaticHelper: OpenEXR: build (ver 2.3.0)
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: HDR: YES
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: SUNRASTER: YES
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: PXM: YES
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: PFM: YES
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: Video I/O:
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: Parallel framework: TBB (ver 2020.0 interface 11100)
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: Trace: YES (with Intel ITT)
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: Other third-party libraries:
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: Custom HAL: YES (carotene (ver 0.0.1))
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: Protobuf: build (3.5.1)
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: Python (for build): /usr/bin/python2.7
2021-10-27 14:52:37.648 8823-8823/? I/OpenCV/StaticHelper: Java: export all functions
2021-10-27 14:52:37.649 8823-8823/? I/OpenCV/StaticHelper: ant: NO
2021-10-27 14:52:37.649 8823-8823/? I/OpenCV/StaticHelper: Java wrappers: YES
2021-10-27 14:52:37.649 8823-8823/? I/OpenCV/StaticHelper: Java tests: NO
2021-10-27 14:52:37.649 8823-8823/? I/OpenCV/StaticHelper: Install to: /build/master_pack-android/build/o4a/install
2021-10-27 14:52:37.649 8823-8823/? I/OpenCV/StaticHelper: -----------------------------------------------------------------
2021-10-27 14:52:37.649 8823-8823/? D/OrbTest::Activity@@java: OpenCV library found inside package. Using it!
2021-10-27 14:52:37.649 8823-8823/? I/OrbTest::Activity@@java: OpenCV loaded successfully
2021-10-27 14:52:37.649 8823-8823/? D/CameraBridge: call checkCurrentState
2021-10-27 14:52:37.650 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 691: Not performing software digesting for algorithm 32
2021-10-27 14:52:37.650 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 1202: Operation supported by Keymaster QTI HAL, passing through to keymaster1 module
2021-10-27 14:52:37.680 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 691: Not performing software digesting for algorithm 32
2021-10-27 14:52:37.681 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 1202: Operation supported by Keymaster QTI HAL, passing through to keymaster1 module
2021-10-27 14:52:37.685 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 691: Not performing software digesting for algorithm 32
2021-10-27 14:52:37.685 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 1202: Operation supported by Keymaster QTI HAL, passing through to keymaster1 module
2021-10-27 14:52:37.690 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 691: Not performing software digesting for algorithm 32
2021-10-27 14:52:37.690 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 1202: Operation supported by Keymaster QTI HAL, passing through to keymaster1 module
2021-10-27 14:52:37.710 1568-2036/? I/Timeline: Timeline: App_transition_ready time:18287173
2021-10-27 14:52:37.711 1568-2036/? I/Timeline: Timeline: App_transition_ready time:18287174
2021-10-27 14:52:37.713 1568-3275/? I/Timeline: Timeline: App_transition_ready time:18287176
2021-10-27 14:52:37.713 8823-8876/? I/Adreno: QUALCOMM build : a9083cf, Iaf618d42e3
Build Date : 03/14/17
OpenGL ES Shader Compiler Version: XE031.09.00.04
Local Branch :
Remote Branch :
Remote Branch :
Reconstruct Branch :
2021-10-27 14:52:37.716 1568-1596/? I/Timeline: Timeline: App_transition_ready time:18287179
2021-10-27 14:52:37.719 8823-8876/? I/OpenGLRenderer: Initialized EGL, version 1.4
2021-10-27 14:52:37.719 8823-8876/? D/OpenGLRenderer: Swap behavior 1
2021-10-27 14:52:37.733 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 691: Not performing software digesting for algorithm 32
2021-10-27 14:52:37.733 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 1202: Operation supported by Keymaster QTI HAL, passing through to keymaster1 module
2021-10-27 14:52:37.737 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 691: Not performing software digesting for algorithm 32
2021-10-27 14:52:37.737 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 1202: Operation supported by Keymaster QTI HAL, passing through to keymaster1 module
2021-10-27 14:52:37.744 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 691: Not performing software digesting for algorithm 32
2021-10-27 14:52:37.745 748-748/? D/SoftKeymaster: system/keymaster/soft_keymaster_device.cpp, Line 1202: Operation supported by Keymaster QTI HAL, passing through to keymaster1 module
2021-10-27 14:52:37.745 1568-3275/? I/Timeline: Timeline: App_transition_ready time:18287208
2021-10-27 14:52:37.747 8823-8823/? D/CameraBridge: call surfaceChanged event
2021-10-27 14:52:37.747 8823-8823/? D/CameraBridge: call checkCurrentState

Hello, here I have two problems.

No1: I can run this android app on my device, but I find this app can not stop when I quit/leave it.
No2: The initialization of this ORB-SLAM2 android app is very difficult
(Actually it still failed and only succeeded once in my many tries). Of cause, the speed is slow about 100ms which is not real-time.

My device environment:
Android 8, Snapdragon 820, Quad core 1.80GHz, RAM3.0GB

Anyone can give some advices to fix it or improve the performance ?
@muziyongshixin @FedorovPavel

Can you tall me which version of ndk ?