#include "AlgorithmParamConverter.h"

ScrewDetectAlgorithmParams::ScrewDetectAlgorithmParams()
    : rodDiameter(10.0)
    , isHorizonScan(true)
    , cornerParam()
    , filterParam()
    , growParam()
{
}

ScrewDetectAlgorithmParams AlgorithmParamConverter::ToScrewDetectAlgorithmParams(
    const VrAlgorithmParams& algorithmParams)
{
    ScrewDetectAlgorithmParams params;

    params.rodDiameter = algorithmParams.screwParam.rodDiameter;
    params.isHorizonScan = algorithmParams.screwParam.isHorizonScan;

    params.cornerParam.minEndingGap = algorithmParams.cornerParam.minEndingGap;
    params.cornerParam.minEndingGap_z = algorithmParams.cornerParam.minEndingGap_z;
    // Keep the existing runtime behavior: the algorithm scale is derived from rod diameter.
    params.cornerParam.scale = params.rodDiameter / 4.0;
    params.cornerParam.cornerTh = algorithmParams.cornerParam.cornerTh;
    params.cornerParam.jumpCornerTh_1 = algorithmParams.cornerParam.jumpCornerTh_1;
    params.cornerParam.jumpCornerTh_2 = algorithmParams.cornerParam.jumpCornerTh_2;

    params.growParam.yDeviation_max = algorithmParams.growParam.yDeviation_max;
    params.growParam.zDeviation_max = algorithmParams.growParam.zDeviation_max;
    params.growParam.maxLineSkipNum = algorithmParams.growParam.maxLineSkipNum;
    params.growParam.maxSkipDistance = algorithmParams.growParam.maxSkipDistance;
    params.growParam.minLTypeTreeLen = algorithmParams.growParam.minLTypeTreeLen;
    params.growParam.minVTypeTreeLen = algorithmParams.growParam.minVTypeTreeLen;

    params.filterParam.continuityTh = algorithmParams.filterParam.continuityTh;
    params.filterParam.outlierTh = algorithmParams.filterParam.outlierTh;

    return params;
}