<activity
            android:name=".MainActivity"
            android:launchMode="singleTask"
            android:theme="@style/AppTheme.NoActionBar">
            <intent-filter>
                <action android:name="android.intent.action.MAIN"/>
                <category android:name="android.intent.category.LAUNCHER"/>
            </intent-filter>
            <intent-filter>
                <action android:name="android.intent.action.VIEW"/>
                <category android:name="android.intent.category.DEFAULT"/>
                <category android:name="android.intent.category.BROWSABLE"/>
                <data
                    android:scheme="scheme"/>
            </intent-filter>
        </activity>

adb shell am start -W -a "android.intent.action.VIEW" -d "yourUri" yourPackageName