CONTENTS
IX
3.2.1 Depth estimation of monocular visual SLAM..........................................31
3.2.2 Polar line constraints and essential matrices ............................................32
3.2.3 Calculate the depth by linear triangulation ..............................................35
3.3 Parallel tracking and mapping .............................................................................37
3.3.1 Map definition ..........................................................................................38
3.3.2 Tracking process .......................................................................................38
3.3.3 Map building ............................................................................................41
3.4 Summary ..............................................................................................................44
Chapter 4 Model rendering in integrated scene ...........................................................46
4.1 The rendering principle of OpenGL ES 2.0 .........................................................46
4.1.1 OpenGL ES2.0 graphical interface ...........................................................46
4.1.2 Render pipelines and shaders ...................................................................47
4.1.3 Drawing methods of basic geometric .......................................................49
4.2 The key technology of virtual model rendering ...................................................51
4.2.1 Structural analysis and assembly process design of engine .....................51
4.2.2 Parsing OBJ model file .............................................................................53
4.2.3 Rendering OBJ model file ........................................................................55
4.3 Integration of assembly information ....................................................................58
4.3.1 Integration of text information .................................................................58
4.3.2 Integration of image information .............................................................58
4.4 Summary ..............................................................................................................59
Chapter 5 System platform building and instance running ........................................60
5.1 System platform building .....................................................................................60
5.1.1 Android system architecture .....................................................................60
5.1.2 Overall system architecture ......................................................................61
5.2 System development tools and runtime environment design ..............................62
5.2.1 System development tools ........................................................................62
5.2.2 System runtime environment design ........................................................63
5.3 Augmented reality based assembly system of engine running instances .............64
5.3.1 Running instance ......................................................................................64