class CameraRadarFusion:
    """
    Murata-Smart Eye方案的IMS融合管道
    
    摄像头：视觉姿态/注视/行为
    雷达：存在/呼吸/深度
    融合：互补决策
    """
    
    def __init__(self):
        self.camera_pipeline = "Smart Eye AI视觉"
        self.radar_pipeline = "Murata 60GHz雷达"
        
        # 融合策略
        self.fusion_rules = {
            'cpd': self._cpd_fusion,
            'occupant': self._occupant_fusion,
            'oop': self._oop_fusion,
            'vital': self._vital_fusion
        }
    
    def _cpd_fusion(self, camera_data, radar_data):
        """
        CPD儿童检测融合
        
        摄像头：识别儿童座椅/儿童体型
        雷达：检测呼吸/微动（穿透毯子）
        """
        camera_child_seat = camera_data.get('child_seat', False)
        camera_child = camera_data.get('child', False)
        radar_breath = radar_data.get('breathing', False)
        radar_presence = radar_data.get('presence', False)
        
        # 决策矩阵
        if radar_presence and radar_breath:
            if camera_child_seat or camera_child:
                return {'cpd_alert': True, 'confidence': 0.95}
            else:
                # 雷达检测到存在但摄像头未识别（可能被遮挡）
                return {'cpd_alert': True, 'confidence': 0.80}
        elif radar_presence and not radar_breath:
            # 存在但无呼吸（可能空座椅或物体）
            return {'cpd_alert': False, 'confidence': 0.70}
        else:
            return {'cpd_alert': False, 'confidence': 0.95}
    
    def _oop_fusion(self, camera_data, radar_data):
        """
        OOP异常姿态融合
        
        摄像头：精确3D姿态
        雷达：深度/位置
        """
        camera_pose = camera_data.get('pose_3d', None)
        radar_depth = radar_data.get('depth', None)
        
        if camera_pose and radar_depth:
            # 双高置信度：交叉验证
            if camera_pose['distance'] - radar_depth < 0.1:  # 10cm一致性
                return {'oop': camera_pose['is_oop'], 'confidence': 0.95}
            else:
                # 不一致，取摄像头
                return {'oop': camera_pose['is_oop'], 'confidence': 0.75}
        elif camera_pose:
            return {'oop': camera_pose['is_oop'], 'confidence': 0.80}
        elif radar_depth:
            # 仅雷达（摄像头被遮挡）
            return {'oop': radar_depth < 0.3, 'confidence': 0.60}
        else:
            return {'oop': None, 'confidence': 0}