trackedImage position and rotation are not correct

[gerardobevacqua]

I am using Unity version 2022.3.11f1 and ARFoundation version 5.1.5, and I have a problem. When an image is tracked, its position is always (0, 0, 0). This is the code I am using:

using System;
using System.Collections;
using System.Collections.Generic;
using System.IO;
using UnityEngine;
using UnityEngine.UI;
using UnityEngine.XR.ARFoundation;
using UnityEngine.XR.ARSubsystems;
using TMPro;
public class CalibrationApp : MonoBehaviour
{

[SerializeField] private ARTrackedImageManager aRTrackedImageManager;


[SerializeField] private List<Vector3> globalPositionList = new List<Vector3>();
[SerializeField] private List<Vector3> localPositionList = new List<Vector3>();
[SerializeField] private List<Quaternion> globalRotationList = new List<Quaternion>();
[SerializeField] private List<Quaternion> localRotationList = new List<Quaternion>();
[SerializeField] private Vector3 firstMarkerPosition;
[SerializeField] private Quaternion firstMarkerRotation;
[SerializeField] private bool isFirstMarkerTracked = false;
[SerializeField] private TextMeshProUGUI debugLog;
[SerializeField] private TextMeshProUGUI pathName;
[SerializeField] private TextMeshProUGUI jobState;

MarkerCollection myCollection;
// Start is called before the first frame update
void Start()
{
    myCollection = new MarkerCollection();
}

// Update is called once per frame
void Update()
{
    
}

private void Awake()
{
    aRTrackedImageManager = GetComponent<ARTrackedImageManager>();
}

private void OnEnable()
{
    aRTrackedImageManager.trackedImagesChanged += ARTrackedImageManager_trackedImagesChanged;
   
}

private void OnDisable()
{
    aRTrackedImageManager.trackedImagesChanged-=ARTrackedImageManager_trackedImagesChanged;
}

private void ARTrackedImageManager_trackedImagesChanged(ARTrackedImagesChangedEventArgs obj)
{
    foreach(ARTrackedImage trackedImage in obj.added)
    {

        if(trackedImage.trackingState == TrackingState.None)
        {
            StartCoroutine(WaitForTrackingState(trackedImage)); 
        }

        jobState.text = trackedImage.referenceImage.name;
        if(!isFirstMarkerTracked)
        {
            firstMarkerPosition=trackedImage.transform.position;
            firstMarkerRotation=trackedImage.transform.rotation;
            isFirstMarkerTracked=true;
        }
        Debug.Log(trackedImage.transform.position.x + "\t" + trackedImage.transform.rotation.x + "\t" + trackedImage.trackingState);

        /*
        globalPositionList.Add(trackedImage.transform.position);
        globalRotationList.Add(trackedImage.transform.rotation);
        localPositionList.Add(trackedImage.transform.InverseTransformPoint(firstMarkerPosition));
        localRotationList.Add(Quaternion.Inverse(firstMarkerRotation) * trackedImage.transform.rotation);
        */
        

        Marker marker = new Marker();

        marker.name = trackedImage.referenceImage.name;
        marker.globalPosition = trackedImage.transform.position;
        marker.globalRotation = trackedImage.transform.rotation;
        marker.localPosition = trackedImage.transform.InverseTransformPoint(firstMarkerPosition);
        marker.localRotation = Quaternion.Inverse(firstMarkerRotation) * trackedImage.transform.rotation;

        myCollection.markers.Add(marker);


    }

    foreach (ARTrackedImage trackedImage in obj.updated)
    {

    }

    foreach (ARTrackedImage trackedImage in obj.removed)
    {

    }
}

IEnumerator WaitForTrackingState(ARTrackedImage trackedImage)
{
    // Aspetta fin quando il valore di trackedImage.trackingState non diventa TrackingState.Tracking
    while (trackedImage.trackingState != TrackingState.Tracking)
    {
        Debug.Log("Waiting for tracking state...");
        yield return null; // Aspetta un frame prima di controllare di nuovo
    }

    // Una volta che lo stato di tracciamento è TrackingState.Tracking, esegui il codice desiderato
    Debug.Log("Tracked Image is now being tracked!");
}


public void ExportData()
{
    //Path combine ha la stessa funzione del "+", ma con il vantaggio di non dover mettere gli "slash"
    string fileName = Path.Combine(Application.persistentDataPath, "calibrationData.json");

    //serializzo la mia lista in formato Json
    string jsonString = JsonUtility.ToJson(myCollection);
    debugLog.text = jsonString;
    pathName.text = fileName;
    //Creo un file di testo nel percorso fileName con jsonString come contenuto
    File.WriteAllText(fileName, jsonString);

    Debug.Log(fileName);
}

}

[Serializable]
public class Marker
{
public string name;
public Vector3 globalPosition;
public Vector3 localPosition;
public Quaternion globalRotation;
public Quaternion localRotation;

}

[Serializable]
public class MarkerCollection
{
public List markers;

public MarkerCollection()
{
    this.markers = new List<Marker>();
}

}
Could someone help me? In my application, I need to read the position of the markers in space so that I can print them later.
We also tried with a sample project, and the prefabs are still always instantiated at (0, 0, 0) and not at the marker's position.