Write some Software

We are making an Augmented Reality iOS and Android app using Unity 4.3.2, which shows the live built-in rear facing camera in the background. I need a talented Unity3D developer who can create a Behaviour that gets attached to the Main Camera, implementing location/orientation/gyroscope behaviour within the project. The plan is that I can place virtual objects in Unity, positioned according to their real world location, and use the mobile app to "look" at the object in Unity. There are a number of real world apps that currently do this, so any developer experienced with Augmented Reality and GPS/gyroscope data should find this easy. You should be familiar with using Quaternions and handling rotational transforms. The required behaviour should do the following things: 1) Continuously use the GPS coordinates ([login to view URL]) of the mobile device to set the transform position of the camera. The longitude should set the X coordinate and the latitude should set the Z coordinate. The altitude should set the Y coordinate. My app will be using real-world latitude, longitude and altitude coordinates within the 3D world. 2) Continuously use the compass heading ([login to view URL]) and the gyroscope data ([login to view URL]) to set the position of the camera. The compass heading should be used to derive an accurate idea of the direction in which the device is facing, however this is relatively low-resolution and causes jumpy motion. Also, the compass heading only provides a single axis of rotation (Y-axis). The gyroscope in a device (if present) is ideal for tracking the finer, high resolution motion of the device, although it is not tied to the compass heading. The gyroscope data should be used to provide smoother motion for the camera, and also provides orientation data in all axis (X, Y and Z axis). You need to combine both the compass and gyroscope data to provide as accurate as possible orientation for the camera based on the mobile device's readings. 3) Execute a function when the device is laid flat When the device running the app is pointed down to the ground, a function should be executed once that allows me to trigger a specific animation (authored elsewhere). Finally, the behaviour must degrade gracefully, so where a device doesn't offer a gyroscope, it should revert to a basic compass controlled system and use whatever other sensors are available (simple device orientation) to approximate the gyro behaviour. Where no GPS or compass is available, the behaviour should indicate this in a simple way by setting a boolean property to false. I should also say we have already tried using a number of publicly available solutions but have not yet been able to get the results we want: [login to view URL] - this is great, very smooth, but does not use the compass heading so the camera isn't pointing in the right direction, and it is always oriented to the direction the device was pointing when the app was launched. [login to view URL] - this is a simple starting point but doesn't use the gyroscope to provide smooth motion. Relying on a Slerp to smooth out the stepping isn't good enough for us, and this doesn't provide the up/down orientation we require. [login to view URL] - this is good in theory because it tries to combine both compass and gyroscope data to give accurate and smooth results, but it doesn't work on an iPhone 5 with Unity 4.3 - the orientation is inverted and wrong.