Hi,
Your best bet would be to use the APK built from this docker image (like
this):
$ docker pull introlab3it/rtabmap:android26
$ docker run --name=rtabmap introlab3it/rtabmap:android26
$ docker cp rtabmap:/root/rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk .
$ docker rm rtabmap # cleanup container
$ adb install -r RTABMap-debug.apk
I don't promise anything, it has only been tested on Samsung Note10+. The a32 seems to have also a depth camera, though not sure if Samsung changed how we have to access it from android (depth camera API on android is not standard right now). To get depth data, you have to choose ARCore Java driver in App Settings (NDK driver doesn't support depth).
If it works, tell me and share me a database created with it, so I may put more effort to make an official release on Google Play Store.
cheers,
Mathieu