private IEnvironmentInitializer CreateRelocalizationActiveInitializer(bool surfaceReconstructionActive, EnvironmentProfileType environmentProfileType)
{
switch (environmentProfileType)
{
case EnvironmentProfileType.DefaultProfile:
return(CreateDefaultProfileInitializer(surfaceReconstructionActive));
default:
throw new Exception(string.Format("EnvironmentProfileType {0} is not supported.", environmentProfileType));
}
}
/// <summary>
/// Creates an <see cref="IEnvironmentInitializer"/> for the given environment selection result.
/// </summary>
/// <param name="slamRelocalizationActive">Whether the slam relocalization is active or not.</param>
/// <param name="surfaceReconstructionActive">Whether the surface reconstruction is active or not.</param>
/// <param name="environmentProfileType">The environment profile type.</param>
/// <returns>The environment initializer for the given environment initializer type.</returns>
internal IEnvironmentInitializer Create(bool slamRelocalizationActive, bool surfaceReconstructionActive, EnvironmentProfileType environmentProfileType)
{
if (_slamLocalizer == null)
{
return(CreateDefaultInitializer());
}
if (slamRelocalizationActive)
{
return(CreateRelocalizationActiveInitializer(surfaceReconstructionActive, environmentProfileType));
}
return(CreateRelocalizationInactiveInitializer(surfaceReconstructionActive));
}