public IEnumerable <GameObject> GetShapes() { float angle = Vector3.Angle(normalVector, new Vector3(0, 0, 1)); int i = 0; while (clumpQueue.Count > 0) { //Calculate average position Clump clump = clumpQueue.Dequeue(); //check for little clumps to ignore if (clump.Points.Count >= CLUMPTHRESH) { IEnumerable <Vector3> points3D = clump.Points.Select(pix => camera.Get3DPointFromPixel((int)pix.x, (int)pix.y)); Vector3 averagePoint = ConvertCoordinates(AveragePoint(points3D), angle); //set all poses to lie on the ground (y = 0.5) times the scale averagePoint.y = 0; logText += "Object: " + i + ": Position = " + averagePoint.ToString() + "\n"; //logText = "HELLO"; i++; //check for object types //blue if (clump.Color.b > clump.Color.r && clump.Color.b > clump.Color.g) { if (enableBlueObj) { GameObject blueMesh = (GameObject)UnityEngine.Object.Instantiate(Resources.Load(blueFilename)); blueMesh.transform.position = averagePoint; blueMesh.transform.rotation = new Quaternion(0, 0, 0, 0); blueMesh.transform.localScale *= BLUESCALE * OBJSCALE; blueMesh.AddComponent <MeshFilter>(); Bounds b = getBounds(blueMesh); Vector3 lowerCenter = new Vector3(0, b.center.y - b.extents.y, 0); blueMesh.transform.position = averagePoint - lowerCenter; yield return(blueMesh); } else { GameObject cyl = GameObject.CreatePrimitive(PrimitiveType.Cylinder); cyl.transform.position = averagePoint; cyl.transform.rotation = new Quaternion(0, 0, 0, 0); cyl.transform.localScale = new Vector3(OBJSCALE, OBJSCALE / 2, OBJSCALE); //cyl.AddComponent<MeshFilter>(); Bounds b = getBounds(cyl); Vector3 lowerCenter = new Vector3(0, b.center.y - b.extents.y, 0); cyl.transform.position = averagePoint - lowerCenter; yield return(cyl); } } //red else if (clump.Color.r > clump.Color.b && clump.Color.r > clump.Color.g) { if (enableRedObj) { GameObject redMesh = (GameObject)UnityEngine.Object.Instantiate(Resources.Load(redFilename)); redMesh.transform.position = averagePoint; redMesh.transform.rotation = new Quaternion(0, 0, 0, 0); redMesh.transform.localScale *= REDSCALE * OBJSCALE; redMesh.AddComponent <MeshFilter>(); Bounds b = getBounds(redMesh); Vector3 lowerCenter = new Vector3(0, b.center.y - b.extents.y, 0); redMesh.transform.position = averagePoint - lowerCenter; yield return(redMesh); } else { GameObject cube = GameObject.CreatePrimitive(PrimitiveType.Cube); cube.transform.position = averagePoint; cube.transform.rotation = new Quaternion(0, 0, 0, 0); cube.transform.localScale *= OBJSCALE; //cube.AddComponent<MeshFilter>(); Bounds b = getBounds(cube); Vector3 lowerCenter = new Vector3(0, b.center.y - b.extents.y, 0); cube.transform.position = averagePoint - lowerCenter; yield return(cube); } } //green else if (clump.Color.g > clump.Color.b && clump.Color.g > clump.Color.r) { if (enableGreenObj) { GameObject greenMesh = (GameObject)UnityEngine.Object.Instantiate(Resources.Load(greenFilename)); greenMesh.transform.position = averagePoint; greenMesh.transform.rotation = new Quaternion(0, 0, 0, 0); greenMesh.transform.localScale *= GREENSCALE * OBJSCALE; greenMesh.AddComponent <MeshFilter>(); Bounds b = getBounds(greenMesh); Vector3 lowerCenter = new Vector3(0, b.center.y - b.extents.y, 0); greenMesh.transform.position = averagePoint - lowerCenter; yield return(greenMesh); } else { GameObject obj1 = GameObject.CreatePrimitive(PrimitiveType.Cube); obj1.transform.position = averagePoint; obj1.transform.rotation = new Quaternion(0, 0, 0, 0); obj1.transform.localScale *= OBJSCALE; //obj1.AddComponent<MeshFilter>(); Bounds b = getBounds(obj1); Vector3 lowerCenter = new Vector3(0, b.center.y - b.extents.y, 0); obj1.transform.position = averagePoint - lowerCenter; //Return shape at the given point yield return(obj1); } } //default behavior else { GameObject obj = GameObject.CreatePrimitive(PrimitiveType.Cube); obj.transform.position = averagePoint; obj.transform.rotation = new Quaternion(0, 0, 0, 0); obj.transform.localScale *= OBJSCALE; //obj.AddComponent<MeshFilter>(); Bounds b = getBounds(obj); Vector3 lowerCenter = new Vector3(0, b.center.y - b.extents.y, 0); obj.transform.position = averagePoint - lowerCenter; //Return shape at the given point yield return(obj); } } } }