#include "cloud_point_rpc/service.hpp"

namespace cloud_point_rpc {

Service::Service(const TestData& data) : data_(data) {}

std::vector<double> Service::get_intrinsic_params() const {
  if (data_.intrinsic_params.empty()) {
    // Fallback if no config loaded
    return {1.0, 0.0, 0.0, 
            0.0, 1.0, 0.0, 
            0.0, 0.0, 1.0};
  }
  return data_.intrinsic_params;
}

std::vector<double> Service::get_extrinsic_params() const {
  if (data_.extrinsic_params.empty()) {
    return {1.0, 0.0, 0.0, 0.0,
            0.0, 1.0, 0.0, 0.0,
            0.0, 0.0, 1.0, 0.0,
            0.0, 0.0, 0.0, 1.0};
  }
  return data_.extrinsic_params;
}

std::vector<std::vector<double>> Service::get_cloud_point() const {
  if (data_.cloud_point.empty()) {
    return {
      {0.1, 0.2, 0.3},
      {1.1, 1.2, 1.3},
      {2.1, 2.2, 2.3}
    };
  }
  return data_.cloud_point;
}

} // namespace cloud_point_rpc