Have you tried setting ARSessionConfig - Frame Sync Mode - Sync Tick Without Camera Image instead of ARSessionConfig - Frame Sync Mode - Sync Tick With Camera Image in the ARSessionConfig file? This helped a lot on my end with perceived performance. Also as seen on another post when setting the MinSDKVersion to 21 my APK doesn’t seem to be much bigger than with 4.25. Image quality isn’t great indeed even when setting the video format correctly for the device, although it doesn’t look as bad on my end as it does on the cited post.
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