Does anyone have a solution how to replace the 2D images with 3D objects?
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There is a contribution to mixare (open source augmented reality browser: http://www.mixare.org) available here:
https://github.com/ferdinandtorggler/mixare/commit/0a8a7e070ef076239e0cb39606f3ac85faa324fe
It’s used to display a grid on the horizon, so that’s not quite what you want, but shows how to use openGL 3D objects inside mixare.
HTH