@aibee/crc-bmap 0.8.50 → 0.8.52

package/lib/bmap.esm.js

@@ -11759,9 +11759,9 @@ var GroundTexture = class extends Object3D8 {
     });
   }
   dispose() {
-    var _this_mesh, _this_mesh1;
-    (_this_mesh = this.mesh) == null ? void 0 : _this_mesh.geometry.dispose();
-    ((_this_mesh1 = this.mesh) == null ? void 0 : _this_mesh1.material).forEach((item) => item.dispose());
+    var _this_mesh_geometry, _this_mesh, _this_mesh_material, _this_mesh1;
+    (_this_mesh = this.mesh) == null ? void 0 : (_this_mesh_geometry = _this_mesh.geometry) == null ? void 0 : _this_mesh_geometry.dispose();
+    (_this_mesh1 = this.mesh) == null ? void 0 : (_this_mesh_material = _this_mesh1.material) == null ? void 0 : _this_mesh_material.forEach((item) => item.dispose());
     this.clear();
   }
   constructor(context, options) {
@@ -18322,16 +18322,18 @@ var PositioningSystem = class {
         success = true;
       }
     } else if (!this.particleFilter.getPosInitFlag() && this.using_gps && data_type === SENSOR_TYPE.GPS) {
-      const gps_pos = this.getGpsPosition(data);
-      success = gps_pos !== null;
-      console.log("gps_pos", gps_pos, data);
-      if (gps_pos) {
-        this.particleFilter.initParticlesByPos(gps_pos.x, gps_pos.y, () => true);
-        this.last_pos_time = time;
-        console.log("init Pos by gps success time " + time);
-        this.cacheSensorData.length = 0;
-      } else {
-        console.log("init Pos by gps fail time " + time);
+      if (this.startTime && Date.now() - this.startTime > 3e3) {
+        const gps_pos = this.getGpsPosition(data);
+        success = gps_pos !== null;
+        console.log("gps_pos", gps_pos, data);
+        if (gps_pos) {
+          this.particleFilter.initParticlesByPos(gps_pos.x, gps_pos.y, () => true);
+          this.last_pos_time = time;
+          console.log("init Pos by gps success time " + time);
+          this.cacheSensorData.length = 0;
+        } else {
+          console.log("init Pos by gps fail time " + time);
+        }
       }
     } else if (!this.particleFilter.getYawInitFlag() && data_type === SENSOR_TYPE.COMPASS) {
       const compass = data;
@@ -18403,7 +18405,7 @@ var PositioningSystem = class {
     this.sigmaBeacon = 5;
     this.gps_horizontalAccuracy = 10;
     this.using_gps = true;
-    this.last_beacon_time = null;
+    this.last_beacon_time = Date.now();
     this.position_count = 0;
     this.gps_max_horizontalAccuracy = 20;
     this.MaxEstimateErr = 5;
@@ -18411,6 +18413,7 @@ var PositioningSystem = class {
     this.outTrustRegionNum = 0;
     this.TrustNum = 4;
     this.cacheSensorData = [];
+    this.startTime = null;
     const config = _extends({}, defaultPdrPositionOptions, options);
     this.using_gps = config.using_gps;
     this.particleFilter = new ParticleFilter({
@@ -18437,6 +18440,7 @@ var PdrPosition = class extends EventDispatcher17 {
   }
   start() {
     this.sensor.start();
+    this.pdr.startTime = Date.now();
     this.sensor.addEventListener("add-data-item", (param) => {
       let { item } = param;
       this.getPositionBySensorItem(item, !this._pause);