diff --git a/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java b/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
index ad4b63b..e159fe7 100644
--- a/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
+++ b/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
@@ -385,33 +385,30 @@
       }
 
       // Visualize planes.
-      Collection<Plane> allPlanes = session.getAllTrackables(Plane.class);
-      for (Plane plane : allPlanes) {
-        if (placedPlane == null) {
-          placedPlane = plane;
-          Appearance ap = new Appearance();
-          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
-          Box rect = new Box(plane.getExtentX() / 2, 0.005f, plane.getExtentZ() / 2, ap);
-          Object3D rectObj = new Object3D("plane", rect);
-          Pose p = plane.getCenterPose();
-          rectObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
-          rectObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
-          ground = new Ground(rectObj);
-          universe.place(ground);
-        }
-      }
-      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
-      for(Plane plane : updatedPlanes) {
-      if (plane == placedPlane) {
-          Appearance ap = new Appearance();
-          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
-          Box rect = new Box(plane.getExtentX() / 2, 0.005f, plane.getExtentZ() / 2, ap);
-          Object3D rectObj = new Object3D("plane", rect);
-          Pose p = plane.getCenterPose();
-          rectObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
-          rectObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()),  false);
-          ground.updateBody(rectObj);
-        }
+     Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
+      for (Plane plane : updatedPlanes) {
+          if (placedPlane == null) {
+              placedPlane = plane;
+              Appearance ap = new Appearance();
+              ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
+              Box rect = new Box(plane.getExtentX() / 2, 0.005f, plane.getExtentZ() / 2, ap);
+              Object3D rectObj = new Object3D("plane", rect);
+              Pose p = plane.getCenterPose();
+              rectObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+              rectObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+              ground = new Ground(rectObj);
+              universe.place(ground);
+          }
+          if (plane == placedPlane) {
+              Appearance ap = new Appearance();
+              ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
+              Box rect = new Box(plane.getExtentX() / 2, 0.005f, plane.getExtentZ() / 2, ap);
+              Object3D rectObj = new Object3D("plane", rect);
+              Pose p = plane.getCenterPose();
+              rectObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+              rectObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+              ground.updateBody(rectObj);
+          }
       }
 
 //      planeRenderer.drawPlanes(