#include "pipeline_config.h"

namespace core
{
PipelineConfig makeDesktopDebugConfig()
{
    PipelineConfig config;
    config.preprocessPlugins = QStringList() << "keep_largest_cluster" << "downsample_dense";
    config.reconstructionPlugin = "surface_fallback";
    config.runtime.profile = "desktop_debug";
    config.runtime.asyncReconstruction = false;
    config.runtime.targetFps = 20;
    return config;
}

static PipelineConfig makePclFastConfig()
{
    PipelineConfig config = makeDesktopDebugConfig();
    config.preprocessPlugins = QStringList() << "pcl_voxel_grid" << "pcl_statistical_outlier";
    config.reconstructionPlugin = "pcl_greedy_triangulation";
    config.preprocess.pclVoxelLeafSize = 0.05f;
    config.preprocess.pclSorMeanK = 20;
    config.reconstruction.pclGreedySearchRadius = 0.10f;
    return config;
}

PipelineConfig makeRpi4RuntimeConfig()
{
    PipelineConfig config = makePclFastConfig();
    config.runtime.profile = "rpi4_runtime";
    config.runtime.asyncReconstruction = true;
    config.runtime.targetFps = 10;
    config.preprocess.maxInputPoints = 60000;
    config.preprocess.downsampleCellScale = 1.2;
    config.reconstruction.runEveryNthFrame = 3;
    return config;
}
} // namespace core