I created an ARKit app using SceneKit. I want to bring it over to ARCore but using straight OpenGl seems daunting. Is there a high level scene graph framework like SceneKit for Android developers?
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You could use https://github.com/Rajawali/Rajawali or https://libgdx.badlogicgames.com/ for this purpose. A good start for Rajawali and ARCore is this blog post https://medium.com/@alex_dennis/intro-to-augmented-reality-development-with-tango-b9ea2923bdea. It's about Tango but as ARCore is based on Tango the concepts and APIs are almost the same.
ViroCore is a SceneKit for Android. With ViroCore you describe scenes at a high level in Java, without having to implement rendering algorithms yourself in OpenGL. It has built-in integration with ARCore, and its rendering feature-set is equivalent to SceneKit.
It's also thoroughly documented, with development guides, a full Javadoc, and code samples. A good starting point is trying out this AR retail code sample -- it's a full ARCore application written with ViroCore.
Here's the LibGDX and ARCore blog too: https://medium.com/@wilkinsonclay/investigating-arcore-with-libgdx-f69b83764118