app can not stop when quit app and initialization is difficult

[PapaMadeleine2022]

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

[muziyongshixin]

For the No1, I am not so sure whether it is because of the different Android version. and I am not professional at Android development, so maybe I can not give you more help.

For the No2, it is true that the initialization will be difficult, you can try to set the "ORBextractor.nFeatures: 800" in the configuration file(ORB-SLAM2-based-AR-on-Android/SLAM/Calibration/mi6.yaml) to 1000 or even higher, that may help you to initialize easier, but this may also decrease the FPS for more nFeatures needs more computing resources, hope that can help you. And in my experience, the environment with more texture will help the program to initialize quicker.

As mentioned in the README, this program requires lots of computation resources (Snapdragon 835, RAM 6GB in my experiment), I am not sure whether your devices is powerful enough. And this is just a demo repo, there should be a lot of performance optimization space, but I am not a professional Android developer，so the implementation may not be the best.