/// <summary>
/// Generates right triangle in x,y position with given size and rotation
/// </summary>
/// <returns>Generated triangle</returns>
private static RansacSeedTriangle GenerateTriangle(int x, int y, int size, int rotation)
{
var center = new Position2D(x, y);
var up = new Position2D(x, y + size);
var right = new Position2D(x + size, (int)(y));
up.RotateAroundPoint(rotation, center);
right.RotateAroundPoint(rotation, center);
return(new RansacSeedTriangle(
center.X + center.Y * PlaneLocalizationConfig.DepthImageWidth,
up.X + up.Y * PlaneLocalizationConfig.DepthImageWidth,
right.X + right.Y * PlaneLocalizationConfig.DepthImageWidth
));
}