Augmented Image Poor Anchor Tracking

[ghostship]

SPECIFIC ISSUE ENCOUNTERED

When attaching an anchor to either a trackable or session using AugmentedImage pose, anchor position and rotation shift and do not match position of trackable.

Issues:

• Anchor position drifts
• Anchor rotation jitters and normalizes at incorrect vector
• Moving backwards and forwards from trackable causes anchor to misalign
• Moving camera to side of trackable causes anchor to misalign
• Moving camera out of view and back to trackable causes anchor to misalign
• If using trackable directly without anchor and FULL_TRACKING, centerPose constantly jitters in position and rotation

Arcoreimg score: 95

$ ./arcoreimg.exe eval-img --input_image_path=../../../samples/augmented_image_java/app/src/main/assets/testMarker.jpg 
95

Observable even with augmented_image_java sample

VERSIONS USED

• Android Studio: Android Studio Koala | 2024.1.1
• ARCore SDK for Android: 1.43.0
• Device manufacturer, model, and O/S: Various. Video from Samsung Galaxy S10
• Google Play Services for AR (ARCore): 1.44.241490493
• Output of adb shell getprop ro.build.fingerprint: samsung/beyond1qlteue/beyond1q:12/SP1A.210812.016/G973U1UEU9IXE1:user/release-keys

STEPS TO REPRODUCE THE ISSUE

1. Modify augmented_image_java sample to use testMarker.jpg, set useSingleImage to true, and update addImage to augmentedImageDatabase.addImage("image_name", augmentedImageBitmap, 0.0508f);
2. Point camera at image
3. Observe anchor position jumping around

WORKAROUNDS (IF ANY)

• Attempted to improve tracking by waiting for at least one horizontal plane to be discovered and discarding the first 240 frames when the augmented image moves to FULL_TRACKING state. No Improvement
• Attempted to attach anchor to session. No improvement
• Attempted to use augmentedImage pose data directly while FULL_TRACKING and create anchor when not tracked with lastKnownPose. augmentedImage pose is super jittery. No improvement when switching to anchor

ADDITIONAL COMMENTS

Example showing anchor attached to augmentedImage (default behavior of sample)
https://drive.google.com/file/d/1z9UIywfY_sJZPEASgz-vUpO_DEFVjA3n/view?usp=sharing

Example showing anchor attached to session
https://drive.google.com/file/d/1USdH_EJcF2-blAi3wG11cGItvmNJvhA1/view?usp=sharing