A method comprising: outputting, by at least one processor of a mobile computing device, and for display at a display device, a frame having one or more images representing objects that are captured by at least one camera device; responsive to receiving an input to select the frame, storing, by the at least one processor, the frame as a reference frame having one or more reference images, wherein the one or more reference images include the one or more images of the frame output at the display device; determining, by the at least one processor and based on the one or more reference images included in the reference frame, a reference pose of the at least one camera device, the reference pose including a reference orientation; after determining the reference pose of the at least one camera device, outputting, by the at least one processor and for display at the display device, a current frame having one or more current images that are captured by the at least one camera device; determining, by the at least one processor and based on the one or more current images included in the current frame, a current pose of the at least one camera device, the current pose including a current orientation; determining, by the at least one processor, that a difference between the current orientation of the at least one camera device and the reference orientation of the at least one camera device satisfies a defined criterion; responsive to determining that the difference satisfies the defined criterion, determining, by the at least one processor, an estimated translation of the current pose relative to the reference pose; determining, by the at least one processor and based on the estimated translation, that the current pose is different from the reference pose; and responsive to determining that the current pose is different from the reference pose, outputting, by the at least one processor, an indication of one or more instructions to manipulate the at least one camera device from the current pose into the reference pose. outputting, by at least one processor of a mobile computing device, and for display at a display device, a frame having one or more images representing objects that are captured by at least one camera device; responsive to receiving an input to select the frame, storing, by the at least one processor, the frame as a reference frame having one or more reference images, wherein the one or more reference images include the one or more images of the frame output at the display device; determining, by the at least one processor and based on the one or more reference images included in the reference frame, a reference pose of the at least one camera device, the reference pose including a reference orientation; after determining the reference pose of the at least one camera device, outputting, by the at least one processor and for display at the display device, a current frame having one or more current images that are captured by the at least one camera device; determining, by the at least one processor and based on the one or more current images included in the current frame, a current pose of the at least one camera device, the current pose including a current orientation; determining, by the at least one processor, that a difference between the current orientation of the at least one camera device and the reference orientation of the at least one camera device satisfies a defined criterion; responsive to determining that the difference satisfies the defined criterion, determining, by the at least one processor, an estimated translation of the current pose relative to the reference pose; determining, by the at least one processor and based on the estimated translation, that the current pose is different from the reference pose; and responsive to determining that the current pose is different from the reference pose, outputting, by the at least one processor, an indication of one or more instructions to manipulate the at least one camera device from the current pose into the reference pose.