TrackableHit hit;
TrackableHitFlags raycastFilter = TrackableHitFlags.PlaneWithinPolygon |
    TrackableHitFlags.FeaturePointWithSurfaceNormal;

if (Frame.Raycast(touch.position.x, touch.position.y, raycastFilter, out hit))
{
    if ((hit.Trackable is DetectedPlane) &&
        Vector3.Dot(FirstPersonCamera.transform.position - hit.Pose.position,
            hit.Pose.rotation * Vector3.up) < 0)
    {
        Debug.Log("Hit at back of the current DetectedPlane");
    }
    else
    {
        GameObject prefab;
        if (hit.Trackable is FeaturePoint)
        {
            prefab = AndyPointPrefab;
        }
        else
        {
            prefab = AndyPlanePrefab;
        }

        var andyObject = Instantiate(prefab, hit.Pose.position, hit.Pose.rotation);
        andyObject.transform.Rotate(0, k_ModelRotation, 0, Space.Self);

        var anchor = hit.Trackable.CreateAnchor(hit.Pose);

        andyObject.transform.parent = anchor.transform;
    }
}

TrackableHit hit;
TrackableHitFlags raycastFilter = TrackableHitFlags.PlaneWithinPolygon |
    TrackableHitFlags.FeaturePointWithSurfaceNormal;

if (Frame.Raycast(touch.position.x, touch.position.y, raycastFilter, out hit))
{
    if ((hit.Trackable is DetectedPlane) &&
        Vector3.Dot(FirstPersonCamera.transform.position - hit.Pose.position,
            hit.Pose.rotation * Vector3.up) < 0)
    {
        Debug.Log("Hit at back of the current DetectedPlane");
    }
    else
    {
        GameObject prefab;
        if (hit.Trackable is FeaturePoint)
        {
            prefab = AndyPointPrefab;
        }
        else
        {
            prefab = AndyPlanePrefab;
        }

        var andyObject = Instantiate(prefab, hit.Pose.position, hit.Pose.rotation);
        andyObject.transform.Rotate(0, k_ModelRotation, 0, Space.Self);

        var anchor = hit.Trackable.CreateAnchor(hit.Pose);

        andyObject.transform.parent = anchor.transform;
    }
}

TrackableHit hit;
TrackableHitFlags raycastFilter = TrackableHitFlags.PlaneWithinPolygon |
    TrackableHitFlags.FeaturePointWithSurfaceNormal;

if (Frame.Raycast(touch.position.x, touch.position.y, raycastFilter, out hit))
{
    if ((hit.Trackable is DetectedPlane) &&
        Vector3.Dot(FirstPersonCamera.transform.position - hit.Pose.position,
            hit.Pose.rotation * Vector3.up) < 0)
    {
        Debug.Log("Hit at back of the current DetectedPlane");
    }
    else
    {
        GameObject prefab;
        if (hit.Trackable is FeaturePoint)
        {
            prefab = AndyPointPrefab;
        }
        else
        {
            prefab = AndyPlanePrefab;
        }

        var andyObject = Instantiate(prefab, hit.Pose.position, hit.Pose.rotation);
        andyObject.transform.Rotate(0, k_ModelRotation, 0, Space.Self);

        var anchor = hit.Trackable.CreateAnchor(hit.Pose);

        andyObject.transform.parent = anchor.transform;
    }
}

// Get updated augmented images for this frame.
Session.GetTrackables<AugmentedImage>(
    m_TempAugmentedImages, TrackableQueryFilter.Updated);

// Create visualizers and anchors for updated augmented images that are tracking and do
// not previously have a visualizer. Remove visualizers for stopped images.
foreach (var image in m_TempAugmentedImages)
{
    AugmentedImageVisualizer visualizer = null;
    m_Visualizers.TryGetValue(image.DatabaseIndex, out visualizer);
    if (image.TrackingState == TrackingState.Tracking && visualizer == null)
    {
        // Create an anchor to ensure that ARCore keeps tracking this augmented image.
        Anchor anchor = image.CreateAnchor(image.CenterPose);
        visualizer = (AugmentedImageVisualizer)Instantiate(
            AugmentedImageVisualizerPrefab, anchor.transform);
        visualizer.Image = image;
        m_Visualizers.Add(image.DatabaseIndex, visualizer);
    }
    else if (image.TrackingState == TrackingState.Stopped && visualizer != null)
    {
        m_Visualizers.Remove(image.DatabaseIndex);
        GameObject.Destroy(visualizer.gameObject);
    }
}

if (Image == null || Image.TrackingState != TrackingState.Tracking)
{
    FrameLowerLeft.SetActive(false);
    FrameLowerRight.SetActive(false);
    FrameUpperLeft.SetActive(false);
    FrameUpperRight.SetActive(false);
    return;
}

float halfWidth = Image.ExtentX / 2;
float halfHeight = Image.ExtentZ / 2;
FrameLowerLeft.transform.localPosition =
(halfWidth * Vector3.left) + (halfHeight * Vector3.back);
FrameLowerRight.transform.localPosition =
(halfWidth * Vector3.right) + (halfHeight * Vector3.back);
FrameUpperLeft.transform.localPosition =
(halfWidth * Vector3.left) + (halfHeight * Vector3.forward);
FrameUpperRight.transform.localPosition =
(halfWidth * Vector3.right) + (halfHeight * Vector3.forward);

FrameLowerLeft.SetActive(true);
FrameLowerRight.SetActive(true);
FrameUpperLeft.SetActive(true);
FrameUpperRight.SetActive(true);