[midjji]

I do not think there is an off the shelf solution aside from e.g. arkit.

In general a good starting point for such a problem would be to implement https://grail.cs.washington.edu/rome/ on your own.

Its not particularily hard, and there is no difference between reconstructing from uncalibrated cameras and reconstructing from many images from one camera with unknown calibration. Then you can check if the calibration is unchanged over time, and if it is, add that as a constraint. So far it will still take half an hour to run, but now you can add in tracking exploiting motion prediction and imu, which in turn will give you the real time speed.