ARKit 1.5 – Vertical objects detection - swift

Question

I use ARKit 1.5 and this func to highlight vertical surfaces, but it doesn't work really well.
func createPlaneNode(planeAnchor: ARPlaneAnchor) -> SCNNode {
let scenePlaneGeometry = ARSCNPlaneGeometry(device: metalDevice!)
scenePlaneGeometry?.update(from: planeAnchor.geometry)
let planeNode = SCNNode(geometry: scenePlaneGeometry)
planeNode.name = "\(currPlaneId)"
planeNode.opacity = 0.25
if planeAnchor.alignment == .vertical {
planeNode.geometry?.firstMaterial?.diffuse.contents = UIColor.red
}
currPlaneId += 1
return planeNode
}
It always finds some FeaturePoints on vertical objects but very rare it actually highlights the surface using the planeNode that I created.
I want to be able to detect and highlight things like a pillar or even a man. How would you approach this?
Image of object with featurePoints
Image with the result in best case scenario

Answer 1

In ARKit 1.5 and ARKit 2.0 there's .planeDetection instance property allowing you to enable .horizontal, .vertical, or both simultaneously .horizontal and .vertical detections.
var planeDetection: ARWorldTrackingConfiguration.PlaneDetection { get set }
ViewController's code:
let configuration = ARWorldTrackingConfiguration()
configuration.planeDetection = .vertical
//configuration.planeDetection = [.vertical, .horizontal]
sceneView.session.run(configuration)
If you want to successfully detect and track vertical objects in your environment, you need good lighting conditions and rich non-repetitive texture. Look at the picture below: