ARKit internal differences between portrait and landscape?

Question

I do marker tracking for ARKit using OpenCV (using ARUCO), and I see good results with the portrait orientation of the camera, but a slight displacement in the landscape.

ARUCO markers at known positions:

Detection in portrait mode:

In landscape orientation, the detection shows an offset:

Details what I am doing:

• For each ARFrame do the following:
• Get CVPixelBuffer height, width, baseaddress and convert to cv::Mat
• Perform marker validation and position evaluation ( cv::aruco::detectMarkers , cv::aruco::estimatePoseSingleMarkers ) using the built-in ARFrame value.
  • The inner should be transposed for the main ARKit column in the OpenCV main row matrix store.
  • OpenCV rvec and tvec converted to a 4x4 transform using cv::Rodrigues , and then converted from OpenCV to the OpenGL coordinate space on diag(1,-1,-1,1) * transform
  • The result is converted back from the row to the main column and is the conversion of the marker into camera space.
• Multiplying a transform with an ARCameras transform gives the marker plane in world coordinates, which I represent as a green rectangle.

My questions:

• Did I miss something?
• Should frame.displayTransform play any part of the transform?
• Why does turning the device cause an internal change? The width and height of the pixel buffer do not change.
• Any other ideas?

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Update 07.25.2017:

• I get it! This is a mistake from Apple! They messed up the insides between the UIInterfaceOrientation.landscapeLeft and landscapeRight. If you cache these values ​​and change them, then everything works fine.
• iOS 11 Beta 4 Changes Nothing
• I keep this question open until resolved by Apple (bug ID 33519315 on the radar).

Update 09.14.2017:

• Apple closed the error by saying that everything is correct. I'm not sure if they are correct, but potentially this is really a problem between OpenCV and ARKit.