//! Sensor fusion for autonomous vehicles

use crate::{VisionResult, VisionError};
use crate::detection::three_d::BoundingBox3D;
use crate::autonomous::{SensorFrame, TrackedObject};

/// Multi-sensor fusion system
pub struct SensorFusion {
    fusion_method: FusionMethod,
}

impl SensorFusion {
    pub fn new() -> VisionResult<Self> {
        Ok(Self {
            fusion_method: FusionMethod::EarlyFusion,
        })
    }
    
    /// Fuse detections from multiple sensors
    pub fn fuse_detections(&self, detections: &[BoundingBox3D], frame: &SensorFrame) -> VisionResult<Vec<BoundingBox3D>> {
        match self.fusion_method {
            FusionMethod::EarlyFusion => self.early_fusion(detections, frame),
            FusionMethod::LateFusion => self.late_fusion(detections, frame),
            FusionMethod::DeepFusion => self.deep_fusion(detections, frame),
        }
    }
    
    fn early_fusion(&self, detections: &[BoundingBox3D], _frame: &SensorFrame) -> VisionResult<Vec<BoundingBox3D>> {
        // Combine sensor data before processing
        Ok(detections.to_vec())
    }
    
    fn late_fusion(&self, detections: &[BoundingBox3D], _frame: &SensorFrame) -> VisionResult<Vec<BoundingBox3D>> {
        // Combine detection results after individual processing
        Ok(detections.to_vec())
    }
    
    fn deep_fusion(&self, detections: &[BoundingBox3D], _frame: &SensorFrame) -> VisionResult<Vec<BoundingBox3D>> {
        // Neural network-based fusion
        Ok(detections.to_vec())
    }
}

/// Fusion methods
#[derive(Debug, Clone, Copy)]
pub enum FusionMethod {
    EarlyFusion,
    LateFusion,
    DeepFusion,
}