@aibee/crc-bmap 0.8.28 → 0.8.29

package/lib/src/elements/ground-texture.js

@@ -45,7 +45,7 @@ function _extends() {
 import { initShape } from "../utils";
 import { DoubleSide, Float32BufferAttribute, Mesh, MeshBasicMaterial, Object3D, ShapeGeometry } from "three";
 import { mergeGeometries } from "three/examples/jsm/utils/BufferGeometryUtils";
-import { ImgTextureFactory } from "src/factory";
+import { ImgTextureFactory } from "../factory";
 export const defaultOptions = {
     uuid: "",
     iconUrl: "",

package/lib/src/plugins/navigation/navigation.d.ts

@@ -5,7 +5,7 @@ import { PathData2, TweenUtil, PathData, RoadData2 } from "../../utils";
 import { Floor, Poi2, PoiOptions2 } from "../../elements";
 import { Tween } from "@tweenjs/tween.js";
 import { type NavigationProcessInfo, PositionNavigation, type PositionNavigationConfig } from "./position-navigation";
-import TaskQueue from "src/utils/taskQueue";
+import TaskQueue from "../../utils/taskQueue";
 import { StartRotateHelperPoi } from "./start-rotate-helper-poi";
 export type Point = [number, number];
 export { NavigationProcessInfo };

package/lib/src/plugins/navigation/navigation.js

@@ -49,7 +49,7 @@ import { getDistanceByPathPos, getPosByPathDistance, simplifyPath } from "../../
 import { Tween, Easing } from "@tweenjs/tween.js";
 import { Vector3 } from "three";
 import { PositionNavigation } from "./position-navigation";
-import TaskQueue from "src/utils/taskQueue";
+import TaskQueue from "../../utils/taskQueue";
 import { StartRotateHelperPoi } from "./start-rotate-helper-poi";
 const defaultConfig = {
     path: {},

package/lib/src/plugins/pdr-position/imu-position.js

@@ -1,4 +1,4 @@
-import * as math from "mathjs";
+// import * as math from "mathjs";
 export class ImuPosition {
     init() {
         this.fre = 100; // IMU init frequency, dynamic adjust
@@ -269,36 +269,47 @@ export class ImuPosition {
    */ FFTStepDetec() {
         // 一直返回false 先固定返回测试pdr效果
         return true;
-        let fft_detected_flag = false;
-        const fft_fre = this.fre;
-        const fft_size = this.accH_fifo_len; // 1.2s windows
-        // FFT in short sliding window
-        const fft_xs = this.accH_fifo.map((value)=>value - math.mean(this.accH_fifo)); // remove bias
-        const fft_xf = math.fft(fft_xs); // assuming math.fft exists, or use appropriate FFT library
-        const fft_freqs = Array.from({
-            length: fft_size / 2 + 1
-        }, (_, i)=>i * (fft_fre / (2 * fft_size))); // freqs
-        const fft_amps = fft_xf.map((value)=>Math.abs(value)); // amplitude
-        // find main fre and amp, and judge
-        const fft_max_amp = Math.max(...fft_amps);
-        const main_fre_index = fft_amps.indexOf(fft_max_amp);
-        if (fft_max_amp > this.fft_min_amp && this.fft_min_fre < fft_freqs[main_fre_index] && fft_freqs[main_fre_index] < this.fft_max_fre) {
-            // 0~4 Hz
-            fft_detected_flag = true;
-        }
-        this.last_fft_amp = fft_max_amp;
-        // abnormal gait detect(small amplitude steps)
-        let abnor_fft_max_amp = 0;
-        this.abnor_fft_detected = false;
-        for(let i = 0; i < fft_freqs.length; i++){
-            if (fft_amps[i] > abnor_fft_max_amp && this.fft_min_fre < fft_freqs[i] && fft_freqs[i] < this.fft_max_fre) {
-                abnor_fft_max_amp = fft_amps[i];
-            }
-        }
-        if (abnor_fft_max_amp > this.fft_min_amp - 0.1) {
-            this.abnor_fft_detected = true;
-        }
-        return fft_detected_flag;
+    // let fft_detected_flag = false;
+    // const fft_fre = this.fre;
+    // const fft_size = this.accH_fifo_len; // 1.2s windows
+    // // FFT in short sliding window
+    // const fft_xs = this.accH_fifo.map(
+    //   (value) => value - math.mean(this.accH_fifo)
+    // ); // remove bias
+    // const fft_xf = math.fft(fft_xs); // assuming math.fft exists, or use appropriate FFT library
+    // const fft_freqs = Array.from(
+    //   { length: fft_size / 2 + 1 },
+    //   (_, i) => i * (fft_fre / (2 * fft_size))
+    // ); // freqs
+    // const fft_amps = fft_xf.map((value) => Math.abs(value)); // amplitude
+    // // find main fre and amp, and judge
+    // const fft_max_amp = Math.max(...fft_amps);
+    // const main_fre_index = fft_amps.indexOf(fft_max_amp);
+    // if (
+    //   fft_max_amp > this.fft_min_amp &&
+    //   this.fft_min_fre < fft_freqs[main_fre_index] &&
+    //   fft_freqs[main_fre_index] < this.fft_max_fre
+    // ) {
+    //   // 0~4 Hz
+    //   fft_detected_flag = true;
+    // }
+    // this.last_fft_amp = fft_max_amp;
+    // // abnormal gait detect(small amplitude steps)
+    // let abnor_fft_max_amp = 0;
+    // this.abnor_fft_detected = false;
+    // for (let i = 0; i < fft_freqs.length; i++) {
+    //   if (
+    //     fft_amps[i] > abnor_fft_max_amp &&
+    //     this.fft_min_fre < fft_freqs[i] &&
+    //     fft_freqs[i] < this.fft_max_fre
+    //   ) {
+    //     abnor_fft_max_amp = fft_amps[i];
+    //   }
+    // }
+    // if (abnor_fft_max_amp > this.fft_min_amp - 0.1) {
+    //   this.abnor_fft_detected = true;
+    // }
+    // return fft_detected_flag;
     }
     /**
    * Get delta yaw from rotation

package/lib/src/plugins/pdr-position/particle.js

@@ -1,5 +1,5 @@
 import { euclideanDist, gaussLikelihood, limitYaw } from "./utils";
-import * as math from 'mathjs';
+import { reshape, multiply } from 'mathjs';
 class ParticleFilter {
     /**
    * motionModelRotYaw 更新粒子的航向角。
@@ -113,12 +113,12 @@ class ParticleFilter {
         this.particle_yawInitFlag = flag;
     }
     getResultX() {
-        const weightsAsMatrix = math.reshape(this.particleWeight, [
+        const weightsAsMatrix = reshape(this.particleWeight, [
             this.NumParticle,
             1
         ]); // 100 x 1  
         // 计算加权和：weightedSum = particleX * weightsAsMatrix  
-        const weightedSum = math.multiply(this.particleX, weightsAsMatrix); // 3 x 100 * 100 x 1 -> 3 x 1  
+        const weightedSum = multiply(this.particleX, weightsAsMatrix); // 3 x 100 * 100 x 1 -> 3 x 1  
         this.xEst = weightedSum; // 更新 xEst
         return this.xEst[0][0];
     }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@aibee/crc-bmap",
-  "version": "0.8.28",
+  "version": "0.8.29",
   "description": "",
   "main": "lib/bmap.min.js",
   "module": "lib/bmap.esm.js",