修改空轨的日志级别；
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27b4e546a2
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1a959ceb9d
@ -180,7 +180,7 @@ public static class RailGeometryHelper
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try
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{
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LogManager.Info($"[空轨] 开始提取空轨中心线: {railModel.DisplayName}");
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LogManager.Debug($"[空轨] 开始提取空轨中心线: {railModel.DisplayName}");
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// 1. 创建高度检测器实例
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var heightDetector = new ChannelHeightDetector();
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@ -217,7 +217,7 @@ public static class RailGeometryHelper
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pathPoints.Add(new Point3D(x, y, bottomHeight));
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}
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LogManager.Info($"[空轨] 生成 {pathPoints.Count} 个路径点，总长度: {distance2D:F2}m");
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LogManager.Debug($"[空轨] 生成 {pathPoints.Count} 个路径点，总长度: {distance2D:F2}m");
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}
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catch (Exception ex)
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{
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@ -640,7 +640,7 @@ namespace NavisworksTransport
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return;
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}
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LogManager.Info($"[空轨] 开始预计算 {items.Count} 个空轨模型的基准路径");
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LogManager.Debug($"[空轨] 开始预计算 {items.Count} 个空轨模型的基准路径");
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int successCount = 0;
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int failCount = 0;
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@ -655,7 +655,7 @@ namespace NavisworksTransport
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if (baselinePath != null && baselinePath.PathPoints != null && baselinePath.PathPoints.Count > 0)
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{
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successCount++;
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LogManager.Info($"[空轨] 成功提取模型 {item.DisplayName} 的基准路径，共 {baselinePath.PathPoints.Count} 个点，总长度 {baselinePath.TotalLength:F2} 模型单位");
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LogManager.Debug($"[空轨] 成功提取模型 {item.DisplayName} 的基准路径，共 {baselinePath.PathPoints.Count} 个点，总长度 {baselinePath.TotalLength:F2} 模型单位");
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// 自动可视化基准路径
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var railModelId = $"{item.DisplayName}_{item.GetHashCode()}";
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@ -165,7 +165,7 @@ namespace NavisworksTransport.PathPlanning
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{
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try
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{
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LogManager.Info($"[空轨] 步骤1: 开始提取完整基准路径: {railModel.DisplayName}");
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LogManager.Debug($"[空轨] 步骤1: 开始提取完整基准路径: {railModel.DisplayName}");
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// 检查缓存
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var cacheKey = $"baseline_{railModel.DisplayName}_{railModel.GetHashCode()}";
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@ -174,19 +174,19 @@ namespace NavisworksTransport.PathPlanning
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// 检查缓存是否过期
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if (DateTime.Now - cachedPath.CreatedTime < _cacheValidDuration)
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{
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LogManager.Info($"[空轨] 使用缓存的基准路径");
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LogManager.Debug($"[空轨] 使用缓存的基准路径");
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return cachedPath;
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}
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else
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{
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LogManager.Info($"[空轨] 基准路径缓存已过期，重新提取");
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LogManager.Debug($"[空轨] 基准路径缓存已过期，重新提取");
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_baselinePathCache.Remove(cacheKey);
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}
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}
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// 使用 OBB 方法提取基准路径
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var pathPoints = ExtractRailBottomCenterLineByOBB(railModel, samplingInterval);
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LogManager.Info($"[空轨] 生成 {pathPoints.Count} 个采样点");
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LogManager.Debug($"[空轨] 生成 {pathPoints.Count} 个采样点");
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// 计算路径长度
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double totalLength = CalculatePathLength(pathPoints);
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@ -205,7 +205,7 @@ namespace NavisworksTransport.PathPlanning
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// 加入缓存
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_baselinePathCache[cacheKey] = baselinePath;
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LogManager.Info($"[空轨] 步骤1完成: 基准路径总长度 {totalLength:F2}，{pathPoints.Count}个采样点");
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LogManager.Debug($"[空轨] 步骤1完成: 基准路径总长度 {totalLength:F2}，{pathPoints.Count}个采样点");
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return baselinePath;
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}
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catch (Exception ex)
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@ -239,7 +239,7 @@ namespace NavisworksTransport.PathPlanning
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return false;
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}
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LogManager.Info($"[空轨] 步骤3: 吸附点到基准路径，输入点=({inputPoint.X:F2}, {inputPoint.Y:F2}, {inputPoint.Z:F2})");
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LogManager.Debug($"[空轨] 步骤3: 吸附点到基准路径，输入点=({inputPoint.X:F2}, {inputPoint.Y:F2}, {inputPoint.Z:F2})");
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Point3D nearestPoint = baselinePath.PathPoints[0];
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double minDistance = double.MaxValue;
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@ -259,7 +259,7 @@ namespace NavisworksTransport.PathPlanning
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if (minDistance <= maxSnapDistance)
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{
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snappedPoint = nearestPoint;
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LogManager.Info($"[空轨] 步骤3完成: 吸附到 ({nearestPoint.X:F2}, {nearestPoint.Y:F2}, {nearestPoint.Z:F2})，距离 {minDistance:F2}");
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LogManager.Debug($"[空轨] 步骤3完成: 吸附到 ({nearestPoint.X:F2}, {nearestPoint.Y:F2}, {nearestPoint.Z:F2})，距离 {minDistance:F2}");
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return true;
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}
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else
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@ -291,9 +291,9 @@ namespace NavisworksTransport.PathPlanning
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{
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try
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{
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LogManager.Info($"[空轨] 步骤4: 提取路径段");
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LogManager.Info($"[空轨] 起点: ({snappedStartPoint.X:F2}, {snappedStartPoint.Y:F2}, {snappedStartPoint.Z:F2})");
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LogManager.Info($"[空轨] 终点: ({snappedEndPoint.X:F2}, {snappedEndPoint.Y:F2}, {snappedEndPoint.Z:F2})");
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LogManager.Debug($"[空轨] 步骤4: 提取路径段");
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LogManager.Debug($"[空轨] 起点: ({snappedStartPoint.X:F2}, {snappedStartPoint.Y:F2}, {snappedStartPoint.Z:F2})");
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LogManager.Debug($"[空轨] 终点: ({snappedEndPoint.X:F2}, {snappedEndPoint.Y:F2}, {snappedEndPoint.Z:F2})");
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// 在基准路径中找到起点和终点的索引
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int startIndex = FindNearestPointIndex(baselinePath.PathPoints, snappedStartPoint);
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@ -304,7 +304,7 @@ namespace NavisworksTransport.PathPlanning
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throw new InvalidOperationException("无法在基准路径中找到起点或终点");
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}
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LogManager.Info($"[空轨] 起点索引: {startIndex}, 终点索引: {endIndex}");
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LogManager.Debug($"[空轨] 起点索引: {startIndex}, 终点索引: {endIndex}");
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// 确保起点在终点之前
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if (startIndex > endIndex)
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@ -326,11 +326,11 @@ namespace NavisworksTransport.PathPlanning
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double baselineInterval = baselinePath.TotalLength / (baselinePath.PathPoints.Count - 1);
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if (samplingInterval > baselineInterval * 1.5)
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{
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LogManager.Info($"[空轨] 需要重采样: 基准间隔{baselineInterval:F3}，目标间隔{samplingInterval:F3}");
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LogManager.Debug($"[空轨] 需要重采样: 基准间隔{baselineInterval:F3}，目标间隔{samplingInterval:F3}");
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segmentPoints = ResamplePath(segmentPoints, samplingInterval);
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}
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LogManager.Info($"[空轨] 步骤4完成: 提取了 {segmentPoints.Count} 个路径点");
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LogManager.Debug($"[空轨] 步骤4完成: 提取了 {segmentPoints.Count} 个路径点");
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return segmentPoints;
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}
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catch (Exception ex)
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@ -387,7 +387,7 @@ namespace NavisworksTransport.PathPlanning
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{
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_railCache.Clear();
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_baselinePathCache.Clear();
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LogManager.Info("[空轨] 缓存已清除");
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LogManager.Debug("[空轨] 缓存已清除");
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}
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/// <summary>
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@ -397,7 +397,7 @@ namespace NavisworksTransport.PathPlanning
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{
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var cacheKey = $"baseline_{railModel.DisplayName}_{railModel.GetHashCode()}";
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_baselinePathCache.Remove(cacheKey);
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LogManager.Info($"[空轨] 已清除模型 {railModel.DisplayName} 的基准路径缓存");
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LogManager.Debug($"[空轨] 已清除模型 {railModel.DisplayName} 的基准路径缓存");
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}
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/// <summary>
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@ -437,7 +437,7 @@ namespace NavisworksTransport.PathPlanning
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if (baselinePath != null && baselinePath.PathPoints != null && baselinePath.PathPoints.Count > 0)
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{
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successCount++;
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LogManager.Info($"[空轨] 成功提取模型 {item.DisplayName} 的基准路径，共 {baselinePath.PathPoints.Count} 个点");
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LogManager.Debug($"[空轨] 成功提取模型 {item.DisplayName} 的基准路径，共 {baselinePath.PathPoints.Count} 个点");
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// 渲染基准路径
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var railModelId = $"{item.DisplayName}_{item.GetHashCode()}";
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@ -476,8 +476,8 @@ namespace NavisworksTransport.PathPlanning
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{
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try
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{
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LogManager.Info($"[空轨] 使用 OBB 方法提取下表面中心线: {railModel.DisplayName}");
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LogManager.Info($"[空轨] 采样间隔: {samplingInterval:F2}");
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LogManager.Debug($"[空轨] 使用 OBB 方法提取下表面中心线: {railModel.DisplayName}");
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LogManager.Debug($"[空轨] 采样间隔: {samplingInterval:F2}");
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// 1. 计算 OBB 包围体
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var obb = ComputeOrientedBoundingBox(railModel);
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@ -487,8 +487,8 @@ namespace NavisworksTransport.PathPlanning
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var axisLength = obb.GetAxisLength(0);
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var principalAxisVector = principalAxis.ToVector3D();
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LogManager.Info($"[空轨] OBB 主轴长度: {axisLength:F2}（模型单位）");
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LogManager.Info($"[空轨] 主轴方向: ({principalAxisVector.X:F3}, {principalAxisVector.Y:F3}, {principalAxisVector.Z:F3})");
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LogManager.Debug($"[空轨] OBB 主轴长度: {axisLength:F2}（模型单位）");
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LogManager.Debug($"[空轨] 主轴方向: ({principalAxisVector.X:F3}, {principalAxisVector.Y:F3}, {principalAxisVector.Z:F3})");
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// 3. 计算中心线的起点和终点（下表面）
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var center = obb.Center;
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@ -510,7 +510,7 @@ namespace NavisworksTransport.PathPlanning
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axisVector.Z * zAxisDirection.Z;
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absDotProducts[i - 1] = Math.Abs(dotProduct);
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LogManager.Info($"[空轨] Axis {i} 与 Z 轴方向点积: {dotProduct:F3}, 绝对值: {absDotProducts[i - 1]:F3}");
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LogManager.Debug($"[空轨] Axis {i} 与 Z 轴方向点积: {dotProduct:F3}, 绝对值: {absDotProducts[i - 1]:F3}");
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}
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// 选择点积绝对值最大的轴（最接近 Z 轴方向）
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@ -519,26 +519,26 @@ namespace NavisworksTransport.PathPlanning
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var downAxis = obb.GetAxis(downAxisIndex);
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var downAxisVector = downAxis.ToVector3D();
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LogManager.Info($"[空轨] 下表面轴索引: {downAxisIndex}, 方向: ({downAxisVector.X:F3}, {downAxisVector.Y:F3}, {downAxisVector.Z:F3})");
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LogManager.Debug($"[空轨] 下表面轴索引: {downAxisIndex}, 方向: ({downAxisVector.X:F3}, {downAxisVector.Y:F3}, {downAxisVector.Z:F3})");
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// 计算下表面偏移（使用半长度）
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var downHalfLength = obb.GetAxisLength(downAxisIndex) / 2;
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var downOffset = downAxisVector * downHalfLength;
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LogManager.Info($"[空轨] 下表面偏移向量: ({downOffset.X:F3}, {downOffset.Y:F3}, {downOffset.Z:F3})");
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LogManager.Debug($"[空轨] 下表面偏移向量: ({downOffset.X:F3}, {downOffset.Y:F3}, {downOffset.Z:F3})");
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// 中心线起点和终点
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var startCenter = center - direction * (axisLength / 2) + downOffset;
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var endCenter = center + direction * (axisLength / 2) + downOffset;
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LogManager.Info($"[空轨] 中心线起点: ({startCenter.X:F2}, {startCenter.Y:F2}, {startCenter.Z:F2})");
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LogManager.Info($"[空轨] 中心线终点: ({endCenter.X:F2}, {endCenter.Y:F2}, {endCenter.Z:F2})");
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LogManager.Debug($"[空轨] 中心线起点: ({startCenter.X:F2}, {startCenter.Y:F2}, {startCenter.Z:F2})");
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LogManager.Debug($"[空轨] 中心线终点: ({endCenter.X:F2}, {endCenter.Y:F2}, {endCenter.Z:F2})");
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// 4. 沿中心线采样
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var aabb = railModel.BoundingBox();
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var baseline = SampleLine(startCenter, endCenter, samplingInterval);
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LogManager.Info($"[空轨] OBB 方法完成，生成 {baseline.Count} 个采样点");
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LogManager.Debug($"[空轨] OBB 方法完成，生成 {baseline.Count} 个采样点");
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// 5. 使用射线投射获取下表面的精确高度（处理不平整的下表面）
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var triangles = GeometryHelper.ExtractTriangles(new[] { railModel });
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@ -571,7 +571,7 @@ namespace NavisworksTransport.PathPlanning
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}
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}
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LogManager.Info($"[空轨] 射线投射调整: {successCount}/{baseline.Count} 个点已调整");
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LogManager.Debug($"[空轨] 射线投射调整: {successCount}/{baseline.Count} 个点已调整");
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if (adjustedBaseline.Count >= 2)
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{
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@ -597,8 +597,8 @@ namespace NavisworksTransport.PathPlanning
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{
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// 输出 ModelItem 的 AABB 包围盒信息
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var aabb = modelItem.BoundingBox();
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LogManager.Info($"[空轨] AABB包围盒: Min({aabb.Min.X:F2}, {aabb.Min.Y:F2}, {aabb.Min.Z:F2}), Max({aabb.Max.X:F2}, {aabb.Max.Y:F2}, {aabb.Max.Z:F2})");
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LogManager.Info($"[空轨] AABB尺寸: X={aabb.Max.X - aabb.Min.X:F2}, Y={aabb.Max.Y - aabb.Min.Y:F2}, Z={aabb.Max.Z - aabb.Min.Z:F2}");
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LogManager.Debug($"[空轨] AABB包围盒: Min({aabb.Min.X:F2}, {aabb.Min.Y:F2}, {aabb.Min.Z:F2}), Max({aabb.Max.X:F2}, {aabb.Max.Y:F2}, {aabb.Max.Z:F2})");
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LogManager.Debug($"[空轨] AABB尺寸: X={aabb.Max.X - aabb.Min.X:F2}, Y={aabb.Max.Y - aabb.Min.Y:F2}, Z={aabb.Max.Z - aabb.Min.Z:F2}");
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// 使用 GeometryHelper 提取三角形
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var triangles = GeometryHelper.ExtractTriangles(new[] { modelItem });
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@ -619,7 +619,7 @@ namespace NavisworksTransport.PathPlanning
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throw new InvalidOperationException($"模型 {modelItem.DisplayName} 没有几何体顶点");
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}
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LogManager.Info($"[空轨] 提取到 {points.Count} 个唯一顶点");
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LogManager.Debug($"[空轨] 提取到 {points.Count} 个唯一顶点");
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// 使用 PCA 计算 OBB
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return ComputeOBBByPCA(points);
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@ -643,7 +643,7 @@ namespace NavisworksTransport.PathPlanning
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points.Average(p => p.Z)
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);
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LogManager.Info($"[空轨] 质心: ({centroid.X:F2}, {centroid.Y:F2}, {centroid.Z:F2})");
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LogManager.Debug($"[空轨] 质心: ({centroid.X:F2}, {centroid.Y:F2}, {centroid.Z:F2})");
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// 2. 计算协方差矩阵
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double covXX = 0, covYY = 0, covZZ = 0;
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@ -687,7 +687,7 @@ namespace NavisworksTransport.PathPlanning
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sortedEigenvectors[i] = eigenvectors[sortedIndices[i]];
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}
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LogManager.Info($"[空轨] OBB特征值（降序）: {sortedEigenvalues[0]:F4}, {sortedEigenvalues[1]:F4}, {sortedEigenvalues[2]:F4}");
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LogManager.Debug($"[空轨] OBB特征值（降序）: {sortedEigenvalues[0]:F4}, {sortedEigenvalues[1]:F4}, {sortedEigenvalues[2]:F4}");
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// 5. 将点转换到主轴坐标系
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var axes = sortedEigenvectors;
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@ -714,7 +714,7 @@ namespace NavisworksTransport.PathPlanning
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var minZ = projectedPoints.Min(p => p.Z);
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var maxZ = projectedPoints.Max(p => p.Z);
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LogManager.Info($"[空轨] 投影范围: Axis0=[{minX:F2}, {maxX:F2}], Axis1=[{minY:F2}, {maxY:F2}], Axis2=[{minZ:F2}, {maxZ:F2}]");
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LogManager.Debug($"[空轨] 投影范围: Axis0=[{minX:F2}, {maxX:F2}], Axis1=[{minY:F2}, {maxY:F2}], Axis2=[{minZ:F2}, {maxZ:F2}]");
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// 7. 创建 OBB（使用投影范围的中点作为中心，而不是质心）
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var obbCenter = new Point3D(
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@ -740,15 +740,15 @@ namespace NavisworksTransport.PathPlanning
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};
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LogManager.Info($"[空轨] OBB各轴长度（模型单位）: {obb.GetAxisLength(0):F2}, {obb.GetAxisLength(1):F2}, {obb.GetAxisLength(2):F2}");
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LogManager.Debug($"[空轨] OBB各轴长度（模型单位）: {obb.GetAxisLength(0):F2}, {obb.GetAxisLength(1):F2}, {obb.GetAxisLength(2):F2}");
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// 输出 OBB 中心和轴方向
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LogManager.Info($"[空轨] OBB中心: ({obb.Center.X:F2}, {obb.Center.Y:F2}, {obb.Center.Z:F2})");
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LogManager.Debug($"[空轨] OBB中心: ({obb.Center.X:F2}, {obb.Center.Y:F2}, {obb.Center.Z:F2})");
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for (int i = 0; i < 3; i++)
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{
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var axis = obb.GetAxis(i);
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var axisVector = axis.ToVector3D();
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LogManager.Info($"[空轨] Axis {i} 方向: ({axisVector.X:F3}, {axisVector.Y:F3}, {axisVector.Z:F3}), 长度: {obb.GetAxisLength(i):F2}");
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LogManager.Debug($"[空轨] Axis {i} 方向: ({axisVector.X:F3}, {axisVector.Y:F3}, {axisVector.Z:F3}), 长度: {obb.GetAxisLength(i):F2}");
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}
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return obb;
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