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)); }