protected void CheckForPlanes()
{
if (this.PointCloud.Planes == null || !this.PointCloud.Planes.Any())
{
var planeClassifier = AbstractPlaneFinder.Instantiate(AbstractPlaneFinder.CurrentType, this.PointCloud);
planeClassifier.Classify();
planeClassifier.RemoveGroundPlanesAndVerticalPlanes();
PointCloud.Planes = planeClassifier.GetPlanes();
}
this.Planes = this.PointCloud.Planes;
}
public void FindPlanes(AbstractPlaneFinder.Type type, bool showPlanes)
{
PlaneBehaviour.DeletePlanesIn(this.transform);
this.transform.DeleteRoofMeshes();
var planeClassifier = AbstractPlaneFinder.Instantiate(type, this.PointCloud);
planeClassifier.Classify();
planeClassifier.RemoveGroundPlanesAndVerticalPlanes();
if (showPlanes)
{
foreach (var tuple in planeClassifier.PlanesWithScore.OrderByDescending(t => t.Value2).Take(6))
{
var plane = tuple.Value1;
PlaneBehaviour.DisplayPlane(plane, this);
}
}
this.PointCloud.Planes = planeClassifier.GetPlanes();
}
