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Follow up to yesterday's post since most of you seem to be new to BoofCV. Here's a demo on the play store and you use it to collect a few images and generate clouds from them. The demo doesn't have loop closure that I posted about yesterday yet. I'm also hoping to speed it up a bit. Takes about 60s to process the images on my phone.
https://play.google.com/store/apps/details?id=org.boofcv.android&hl=en_US&gl=US
I might make a real app later on that uses all the information available on the phone. This demo does a lot more work than it needs to and that can cause it to fail in situations it shouldn't. It estimates everything, including the lens parameters and will have issues with planar scenes.
For CPU based trackers what's in this Android demo app I wrote a few years ago is still not that far from the SOTA. Was a bit surprised by that when the topic came up a few months ago. I'm not sure how much better GPU based trackers are. Because of how good CNN's have become I think most development has switched over to tracking by detection. Those are not really single object trackers nor can they handle unknown object types.
The algorithms are a bit dated (8+ years old) but the object tracking algorithms in BoofCV (example code) might do what you need (video). You can also play with the Android demo app. Running this code on Android is trivial.
Image retrieval code API is very simple and could be easily added to a Java application that manages images. It's also quite fast. 3D reconstruction does require a bit more of an understanding of what's going on. You can play around with these features in the Android demo or a desktop application.