feat: 集成海康威视相机接口

- 新增 HikvisionCameraController 实现 ICameraController
- CameraFactory 支持 Basler/Hikvision 动态切换（config.json 配置）
- PixelConverter 支持 Bayer RG/GR/GB/BG 8-bit 解码
- 修复采集链断裂问题（finally 中触发下一帧）
- 相机设置面板：宽高和像素格式改为只读显示
- NavigationPropertyPanelViewModel 日志和状态文本改为英文
- 添加 MvCameraControl.Net.dll 到 ExternalLibraries

ExternalLibraries/config.json

@@ -1,4 +1,5 @@
 {
   "Language": "zh-CN",
-  "LogLevel": "Debug"
+  "LogLevel": "Debug",
+  "CameraType": "Hikvision"
 }

XP.Camera/Converters/PixelConverter.cs

@@ -10,6 +10,7 @@ public static class PixelConverter
 {
     /// <summary>
     /// 将原始像素数据转换为 WPF 的 BitmapSource 对象。
+    /// 支持 Mono8、BGR8、RGB8、BGRA8 以及 Bayer 8-bit 格式（自动解码为 BGR24）。
     /// 返回的 BitmapSource 已调用 Freeze()，可跨线程访问。
     /// </summary>
     public static BitmapSource ToBitmapSource(byte[] pixelData, int width, int height, string pixelFormat)
@@ -19,11 +20,23 @@ public static class PixelConverter
         if (height <= 0) throw new ArgumentException("Height must be a positive integer.", nameof(height));
         ArgumentNullException.ThrowIfNull(pixelFormat);
 
-        var (format, stride) = pixelFormat switch
+        string normalized = NormalizePixelFormat(pixelFormat);
+
+        // Bayer 格式需要解码
+        if (normalized.StartsWith("Bayer"))
+        {
+            byte[] bgrData = DemosaicBayer(pixelData, width, height, normalized);
+            var bmp = BitmapSource.Create(width, height, 96, 96, PixelFormats.Bgr24, null, bgrData, width * 3);
+            bmp.Freeze();
+            return bmp;
+        }
+
+        var (format, stride) = normalized switch
         {
             "Mono8" => (PixelFormats.Gray8, width),
             "BGR8" => (PixelFormats.Bgr24, width * 3),
             "BGRA8" => (PixelFormats.Bgra32, width * 4),
+            "RGB8" => (PixelFormats.Rgb24, width * 3),
             _ => throw new NotSupportedException($"Pixel format '{pixelFormat}' is not supported.")
         };
 
@@ -31,4 +44,136 @@ public static class PixelConverter
         bitmap.Freeze();
         return bitmap;
     }
+
+    /// <summary>
+    /// 将不同 SDK 的像素格式名称统一为标准名称。
+    /// </summary>
+    private static string NormalizePixelFormat(string pixelFormat)
+    {
+        if (pixelFormat is "Mono8" or "BGR8" or "BGRA8" or "RGB8")
+            return pixelFormat;
+
+        var upper = pixelFormat.ToUpperInvariant();
+
+        if (upper.Contains("MONO8")) return "Mono8";
+        if (upper.Contains("BGR8")) return "BGR8";
+        if (upper.Contains("BGRA8")) return "BGRA8";
+        if (upper.Contains("RGB8") && !upper.Contains("BAYER")) return "RGB8";
+
+        // Bayer 格式
+        if (upper.Contains("BAYERRG8") || upper.Contains("BAYER_RG8")) return "BayerRG8";
+        if (upper.Contains("BAYERGR8") || upper.Contains("BAYER_GR8")) return "BayerGR8";
+        if (upper.Contains("BAYERGB8") || upper.Contains("BAYER_GB8")) return "BayerGB8";
+        if (upper.Contains("BAYERBG8") || upper.Contains("BAYER_BG8")) return "BayerBG8";
+
+        return pixelFormat;
+    }
+
+    /// <summary>
+    /// 简单 Bayer 解码（双线性插值），输出 BGR24。
+    /// </summary>
+    private static byte[] DemosaicBayer(byte[] bayer, int width, int height, string pattern)
+    {
+        // pattern: BayerRG8, BayerGR8, BayerGB8, BayerBG8
+        // RG: R G    GR: G R    GB: G B    BG: B G
+        //     G B        B G        R G        G R
+
+        int rRow, rCol; // 红色像素在2x2块中的位置
+        switch (pattern)
+        {
+            case "BayerRG8": rRow = 0; rCol = 0; break;
+            case "BayerGR8": rRow = 0; rCol = 1; break;
+            case "BayerGB8": rRow = 1; rCol = 0; break;
+            case "BayerBG8": rRow = 1; rCol = 1; break;
+            default: rRow = 0; rCol = 0; break;
+        }
+
+        byte[] bgr = new byte[width * height * 3];
+
+        for (int y = 0; y < height; y++)
+        {
+            for (int x = 0; x < width; x++)
+            {
+                int srcIdx = y * width + x;
+                int dstIdx = (y * width + x) * 3;
+
+                // 确定当前像素在 Bayer 模式中的角色
+                int py = (y + rRow) % 2; // 0=红行, 1=蓝行
+                int px = (x + rCol) % 2; // 0=红列/蓝列, 1=绿列
+
+                byte r, g, b;
+
+                if (py == 0 && px == 0)
+                {
+                    // 红色像素位置
+                    r = bayer[srcIdx];
+                    g = AvgNeighbors4(bayer, width, height, x, y);
+                    b = AvgDiagonal(bayer, width, height, x, y);
+                }
+                else if (py == 1 && px == 1)
+                {
+                    // 蓝色像素位置
+                    b = bayer[srcIdx];
+                    g = AvgNeighbors4(bayer, width, height, x, y);
+                    r = AvgDiagonal(bayer, width, height, x, y);
+                }
+                else if (py == 0 && px == 1)
+                {
+                    // 绿色像素（红行）
+                    g = bayer[srcIdx];
+                    r = AvgHorizontal(bayer, width, x, y);
+                    b = AvgVertical(bayer, width, height, x, y);
+                }
+                else
+                {
+                    // 绿色像素（蓝行）
+                    g = bayer[srcIdx];
+                    b = AvgHorizontal(bayer, width, x, y);
+                    r = AvgVertical(bayer, width, height, x, y);
+                }
+
+                bgr[dstIdx] = b;
+                bgr[dstIdx + 1] = g;
+                bgr[dstIdx + 2] = r;
+            }
+        }
+
+        return bgr;
+    }
+
+    private static byte AvgNeighbors4(byte[] data, int w, int h, int x, int y)
+    {
+        int sum = 0, count = 0;
+        if (x > 0) { sum += data[y * w + x - 1]; count++; }
+        if (x < w - 1) { sum += data[y * w + x + 1]; count++; }
+        if (y > 0) { sum += data[(y - 1) * w + x]; count++; }
+        if (y < h - 1) { sum += data[(y + 1) * w + x]; count++; }
+        return count > 0 ? (byte)(sum / count) : (byte)0;
+    }
+
+    private static byte AvgDiagonal(byte[] data, int w, int h, int x, int y)
+    {
+        int sum = 0, count = 0;
+        if (x > 0 && y > 0) { sum += data[(y - 1) * w + x - 1]; count++; }
+        if (x < w - 1 && y > 0) { sum += data[(y - 1) * w + x + 1]; count++; }
+        if (x > 0 && y < h - 1) { sum += data[(y + 1) * w + x - 1]; count++; }
+        if (x < w - 1 && y < h - 1) { sum += data[(y + 1) * w + x + 1]; count++; }
+        return count > 0 ? (byte)(sum / count) : (byte)0;
+    }
+
+    private static byte AvgHorizontal(byte[] data, int w, int x, int y)
+    {
+        int sum = 0, count = 0;
+        if (x > 0) { sum += data[y * w + x - 1]; count++; }
+        if (x < w - 1) { sum += data[y * w + x + 1]; count++; }
+        return count > 0 ? (byte)(sum / count) : (byte)0;
+    }
+
+    private static byte AvgVertical(byte[] data, int w, int h, int x, int y)
+    {
+        int sum = 0, count = 0;
+        if (y > 0) { sum += data[(y - 1) * w + x]; count++; }
+        if (y < h - 1) { sum += data[(y + 1) * w + x]; count++; }
+        return count > 0 ? (byte)(sum / count) : (byte)0;
+    }
 }

XP.Camera/Core/CameraFactory.cs

@@ -11,8 +11,8 @@ public class CameraFactory : ICameraFactory
         return cameraType switch
         {
             "Basler" => new BaslerCameraController(),
-            // "Hikvision" => new HikvisionCameraController(),
+            "Hikvision" => new HikvisionCameraController(),
-            _ => throw new NotSupportedException($"不支持的相机品牌: {cameraType}")
+            _ => throw new NotSupportedException($"Unsupported Camera Type: {cameraType}")
         };
     }
 }

XP.Camera/Hikvision/HikvisionCameraController.cs

@@ -0,0 +1,535 @@
+using MvCameraControl;
+using Serilog;
+
+namespace XP.Camera;
+
+/// <summary>
+/// 海康威视相机控制器，封装 MvCameraControl.Net SDK 实现 <see cref="ICameraController"/>。
+/// </summary>
+/// <remarks>
+/// <para>所有公共方法通过内部 <c>_syncLock</c> 对象进行 lock 同步，保证线程安全。</para>
+/// <para>事件回调（ImageGrabbed、GrabError）在 SDK 回调线程上触发，不持有 _syncLock，避免死锁。</para>
+/// </remarks>
+public class HikvisionCameraController : ICameraController
+{
+    private static readonly ILogger _logger = Log.ForContext<HikvisionCameraController>();
+    private static bool _sdkInitialized;
+    private static readonly object _sdkInitLock = new();
+
+    private readonly object _syncLock = new();
+    private IDevice? _device;
+    private CameraInfo? _cachedCameraInfo;
+    private bool _isConnected;
+    private bool _isGrabbing;
+
+    public HikvisionCameraController()
+    {
+        // SDK 初始化延迟到 Open() 中执行
+    }
+
+    /// <inheritdoc />
+    public bool IsConnected
+    {
+        get { lock (_syncLock) { return _isConnected; } }
+    }
+
+    /// <inheritdoc />
+    public bool IsGrabbing
+    {
+        get { lock (_syncLock) { return _isGrabbing; } }
+    }
+
+    /// <inheritdoc />
+    public event EventHandler<ImageGrabbedEventArgs>? ImageGrabbed;
+
+    /// <inheritdoc />
+    public event EventHandler<GrabErrorEventArgs>? GrabError;
+
+    /// <inheritdoc />
+    public event EventHandler? ConnectionLost;
+
+    /// <inheritdoc />
+    public CameraInfo Open()
+    {
+        lock (_syncLock)
+        {
+            if (_isConnected && _cachedCameraInfo != null)
+            {
+                _logger.Information("Hikvision camera already connected, returning cached info.");
+                return _cachedCameraInfo;
+            }
+
+            try
+            {
+                _logger.Information("Opening Hikvision camera connection...");
+
+                // 确保 SDK 初始化
+                EnsureSdkInitialized();
+
+                // 枚举设备
+                DeviceTLayerType layerType = DeviceTLayerType.MvGigEDevice
+                    | DeviceTLayerType.MvUsbDevice;
+
+                List<IDeviceInfo> deviceInfoList;
+                int ret = DeviceEnumerator.EnumDevices(layerType, out deviceInfoList);
+                _logger.Information("EnumDevices(GigE|USB) returned: 0x{RetCode:X8}, device count: {Count}",
+                    ret, deviceInfoList?.Count ?? 0);
+
+                // 如果没找到，分别尝试
+                if (ret == MvError.MV_OK && (deviceInfoList == null || deviceInfoList.Count == 0))
+                {
+                    // 单独尝试 GigE
+                    List<IDeviceInfo> gigeList;
+                    int retGige = DeviceEnumerator.EnumDevices(DeviceTLayerType.MvGigEDevice, out gigeList);
+                    _logger.Information("EnumDevices(GigE only) returned: 0x{RetCode:X8}, count: {Count}",
+                        retGige, gigeList?.Count ?? 0);
+
+                    // 单独尝试 USB
+                    List<IDeviceInfo> usbList;
+                    int retUsb = DeviceEnumerator.EnumDevices(DeviceTLayerType.MvUsbDevice, out usbList);
+                    _logger.Information("EnumDevices(USB only) returned: 0x{RetCode:X8}, count: {Count}",
+                        retUsb, usbList?.Count ?? 0);
+
+                    // 合并结果
+                    deviceInfoList = new List<IDeviceInfo>();
+                    if (gigeList != null) deviceInfoList.AddRange(gigeList);
+                    if (usbList != null) deviceInfoList.AddRange(usbList);
+                }
+
+                if (ret != MvError.MV_OK)
+                {
+                    throw new CameraException($"Enumerate Hikvision devices failed: 0x{ret:X8}");
+                }
+
+                if (deviceInfoList == null || deviceInfoList.Count == 0)
+                {
+                    throw new DeviceNotFoundException("No Hikvision camera device found.");
+                }
+
+                // 选择第一个设备
+                IDeviceInfo deviceInfo = deviceInfoList[0];
+                _logger.Information("Found Hikvision device: {Model} (SN: {Serial})",
+                    deviceInfo.ModelName, deviceInfo.SerialNumber);
+
+                // 创建设备
+                _device = DeviceFactory.CreateDevice(deviceInfo);
+
+                // 打开设备
+                ret = _device.Open();
+                if (ret != MvError.MV_OK)
+                {
+                    _device.Dispose();
+                    _device = null;
+                    throw new CameraException($"Open Hikvision device failed: 0x{ret:X8}");
+                }
+
+                // GigE 设备优化包大小
+                if (_device is IGigEDevice gigEDevice)
+                {
+                    int packetSize;
+                    ret = gigEDevice.GetOptimalPacketSize(out packetSize);
+                    if (ret == MvError.MV_OK && packetSize > 0)
+                    {
+                        _device.Parameters.SetIntValue("GevSCPSPacketSize", packetSize);
+                        _logger.Debug("Set GigE packet size to {PacketSize}", packetSize);
+                    }
+                }
+
+                // 配置软件触发模式
+                _device.Parameters.SetEnumValueByString("TriggerMode", "On");
+                _device.Parameters.SetEnumValueByString("TriggerSource", "Software");
+
+                // 彩色相机：尝试设置输出为 BGR8 以便直接显示
+                // 如果相机不支持 BGR8（如只支持 Bayer），则保持默认
+                int fmtRet = _device.Parameters.SetEnumValueByString("PixelFormat", "BGR8Packed");
+                if (fmtRet != MvError.MV_OK)
+                {
+                    // 尝试 Mono8（黑白相机）
+                    fmtRet = _device.Parameters.SetEnumValueByString("PixelFormat", "Mono8");
+                }
+                _logger.Debug("Set PixelFormat result: 0x{Ret:X8}", fmtRet);
+
+                _cachedCameraInfo = new CameraInfo(
+                    ModelName: deviceInfo.ModelName ?? "",
+                    SerialNumber: deviceInfo.SerialNumber ?? "",
+                    VendorName: deviceInfo.ManufacturerName ?? "",
+                    DeviceType: deviceInfo.TLayerType.ToString()
+                );
+
+                _isConnected = true;
+                _logger.Information("Hikvision camera connected: {ModelName} (SN: {SerialNumber})",
+                    _cachedCameraInfo.ModelName, _cachedCameraInfo.SerialNumber);
+
+                return _cachedCameraInfo;
+            }
+            catch (Exception ex) when (ex is not CameraException)
+            {
+                _device?.Dispose();
+                _device = null;
+                _logger.Error(ex, "Failed to open Hikvision camera.");
+                throw new CameraException("Failed to open Hikvision camera device.", ex);
+            }
+        }
+    }
+
+    /// <inheritdoc />
+    public void Close()
+    {
+        lock (_syncLock)
+        {
+            if (!_isConnected)
+            {
+                _logger.Information("Hikvision camera not connected, Close() ignored.");
+                return;
+            }
+
+            try
+            {
+                if (_isGrabbing)
+                {
+                    StopGrabbingInternal();
+                }
+
+                _logger.Information("Closing Hikvision camera connection...");
+                _device?.Close();
+                _device?.Dispose();
+                _device = null;
+                _isConnected = false;
+                _cachedCameraInfo = null;
+                _logger.Information("Hikvision camera connection closed.");
+            }
+            catch (Exception ex) when (ex is not CameraException)
+            {
+                _device = null;
+                _isConnected = false;
+                _isGrabbing = false;
+                _cachedCameraInfo = null;
+                _logger.Error(ex, "Error while closing Hikvision camera.");
+                throw new CameraException("Failed to close Hikvision camera device.", ex);
+            }
+        }
+    }
+
+    /// <inheritdoc />
+    public void StartGrabbing()
+    {
+        lock (_syncLock)
+        {
+            EnsureConnected();
+
+            if (_isGrabbing)
+            {
+                _logger.Information("Already grabbing, StartGrabbing() ignored.");
+                return;
+            }
+
+            try
+            {
+                _logger.Information("Starting Hikvision grabbing with software trigger...");
+
+                // 设置缓存节点数
+                _device!.StreamGrabber.SetImageNodeNum(5);
+
+                // 注册回调
+                _device.StreamGrabber.FrameGrabedEvent += OnFrameGrabbed;
+
+                // 开始采集
+                int ret = _device.StreamGrabber.StartGrabbing();
+                if (ret != MvError.MV_OK)
+                {
+                    _device.StreamGrabber.FrameGrabedEvent -= OnFrameGrabbed;
+                    throw new CameraException($"Start grabbing failed: 0x{ret:X8}");
+                }
+
+                _isGrabbing = true;
+                _logger.Information("Hikvision grabbing started.");
+            }
+            catch (Exception ex) when (ex is not CameraException)
+            {
+                _logger.Error(ex, "Failed to start Hikvision grabbing.");
+                throw new CameraException("Failed to start grabbing.", ex);
+            }
+        }
+    }
+
+    /// <inheritdoc />
+    public void ExecuteSoftwareTrigger()
+    {
+        lock (_syncLock)
+        {
+            if (!_isGrabbing)
+            {
+                throw new InvalidOperationException("Cannot execute software trigger: camera is not grabbing.");
+            }
+
+            try
+            {
+                int ret = _device!.Parameters.SetCommandValue("TriggerSoftware");
+                if (ret != MvError.MV_OK)
+                {
+                    throw new CameraException($"Execute software trigger failed: 0x{ret:X8}");
+                }
+            }
+            catch (Exception ex) when (ex is not CameraException and not InvalidOperationException)
+            {
+                _logger.Error(ex, "Failed to execute software trigger.");
+                throw new CameraException("Failed to execute software trigger.", ex);
+            }
+        }
+    }
+
+    /// <inheritdoc />
+    public void StopGrabbing()
+    {
+        lock (_syncLock)
+        {
+            if (!_isGrabbing) return;
+            StopGrabbingInternal();
+        }
+    }
+
+    /// <inheritdoc />
+    public double GetExposureTime()
+    {
+        lock (_syncLock)
+        {
+            EnsureConnected();
+            IFloatValue floatValue;
+            int ret = _device!.Parameters.GetFloatValue("ExposureTime", out floatValue);
+            if (ret != MvError.MV_OK)
+                throw new CameraException($"Get ExposureTime failed: 0x{ret:X8}");
+            return floatValue.CurValue;
+        }
+    }
+
+    /// <inheritdoc />
+    public void SetExposureTime(double microseconds)
+    {
+        lock (_syncLock)
+        {
+            EnsureConnected();
+            // 关闭自动曝光
+            _device!.Parameters.SetEnumValueByString("ExposureAuto", "Off");
+            int ret = _device.Parameters.SetFloatValue("ExposureTime", (float)microseconds);
+            if (ret != MvError.MV_OK)
+                throw new CameraException($"Set ExposureTime failed: 0x{ret:X8}");
+            _logger.Information("Hikvision exposure time set to {Microseconds} µs.", microseconds);
+        }
+    }
+
+    /// <inheritdoc />
+    public double GetGain()
+    {
+        lock (_syncLock)
+        {
+            EnsureConnected();
+            IFloatValue floatValue;
+            int ret = _device!.Parameters.GetFloatValue("Gain", out floatValue);
+            if (ret != MvError.MV_OK)
+                throw new CameraException($"Get Gain failed: 0x{ret:X8}");
+            return floatValue.CurValue;
+        }
+    }
+
+    /// <inheritdoc />
+    public void SetGain(double value)
+    {
+        lock (_syncLock)
+        {
+            EnsureConnected();
+            _device!.Parameters.SetEnumValueByString("GainAuto", "Off");
+            int ret = _device.Parameters.SetFloatValue("Gain", (float)value);
+            if (ret != MvError.MV_OK)
+                throw new CameraException($"Set Gain failed: 0x{ret:X8}");
+            _logger.Information("Hikvision gain set to {Value}.", value);
+        }
+    }
+
+    /// <inheritdoc />
+    public int GetWidth()
+    {
+        lock (_syncLock)
+        {
+            EnsureConnected();
+            IIntValue intValue;
+            int ret = _device!.Parameters.GetIntValue("Width", out intValue);
+            if (ret != MvError.MV_OK)
+                throw new CameraException($"Get Width failed: 0x{ret:X8}");
+            return (int)intValue.CurValue;
+        }
+    }
+
+    /// <inheritdoc />
+    public void SetWidth(int value)
+    {
+        lock (_syncLock)
+        {
+            EnsureConnected();
+            int ret = _device!.Parameters.SetIntValue("Width", value);
+            if (ret != MvError.MV_OK)
+                throw new CameraException($"Set Width failed: 0x{ret:X8}");
+            _logger.Information("Hikvision width set to {Value}.", value);
+        }
+    }
+
+    /// <inheritdoc />
+    public int GetHeight()
+    {
+        lock (_syncLock)
+        {
+            EnsureConnected();
+            IIntValue intValue;
+            int ret = _device!.Parameters.GetIntValue("Height", out intValue);
+            if (ret != MvError.MV_OK)
+                throw new CameraException($"Get Height failed: 0x{ret:X8}");
+            return (int)intValue.CurValue;
+        }
+    }
+
+    /// <inheritdoc />
+    public void SetHeight(int value)
+    {
+        lock (_syncLock)
+        {
+            EnsureConnected();
+            int ret = _device!.Parameters.SetIntValue("Height", value);
+            if (ret != MvError.MV_OK)
+                throw new CameraException($"Set Height failed: 0x{ret:X8}");
+            _logger.Information("Hikvision height set to {Value}.", value);
+        }
+    }
+
+    /// <inheritdoc />
+    public string GetPixelFormat()
+    {
+        lock (_syncLock)
+        {
+            EnsureConnected();
+            IEnumValue enumValue;
+            int ret = _device!.Parameters.GetEnumValue("PixelFormat", out enumValue);
+            if (ret != MvError.MV_OK)
+                throw new CameraException($"Get PixelFormat failed: 0x{ret:X8}");
+            return enumValue.CurEnumEntry.Symbolic;
+        }
+    }
+
+    /// <inheritdoc />
+    public void SetPixelFormat(string format)
+    {
+        lock (_syncLock)
+        {
+            EnsureConnected();
+            int ret = _device!.Parameters.SetEnumValueByString("PixelFormat", format);
+            if (ret != MvError.MV_OK)
+                throw new CameraException($"Set PixelFormat failed: 0x{ret:X8}");
+            _logger.Information("Hikvision pixel format set to {Format}.", format);
+        }
+    }
+
+    /// <inheritdoc />
+    public void Dispose()
+    {
+        Close();
+        GC.SuppressFinalize(this);
+    }
+
+    // ══════════════════════════════════════════════════════════════
+    // 私有方法
+    // ══════════════════════════════════════════════════════════════
+
+    /// <summary>
+    /// SDK 回调：图像采集完成
+    /// </summary>
+    private void OnFrameGrabbed(object? sender, FrameGrabbedEventArgs e)
+    {
+        try
+        {
+            var frameOut = e.FrameOut;
+            if (frameOut == null || frameOut.Image == null)
+            {
+                _logger.Warning("Hikvision OnFrameGrabbed: FrameOut or Image is null");
+                GrabError?.Invoke(this, new GrabErrorEventArgs(-1, "FrameOut or Image is null."));
+                return;
+            }
+
+            var image = frameOut.Image;
+            int width = (int)image.Width;
+            int height = (int)image.Height;
+            int imageSize = (int)image.ImageSize;
+            string pixelFormat = image.PixelType.ToString();
+
+            // 提取像素数据
+            byte[] pixelData = image.PixelData ?? Array.Empty<byte>();
+
+            _logger.Debug("Hikvision frame: {Width}x{Height}, format={Format}, dataLen={Len}",
+                width, height, pixelFormat, pixelData.Length);
+
+            if (pixelData.Length == 0)
+            {
+                _logger.Warning("Hikvision OnFrameGrabbed: PixelData is empty");
+                return;
+            }
+
+            var args = new ImageGrabbedEventArgs(pixelData, width, height, pixelFormat);
+            ImageGrabbed?.Invoke(this, args);
+        }
+        catch (Exception ex)
+        {
+            _logger.Error(ex, "Exception in Hikvision OnFrameGrabbed handler.");
+        }
+    }
+
+    private void StopGrabbingInternal()
+    {
+        if (!_isGrabbing) return;
+
+        try
+        {
+            _device?.StreamGrabber.StopGrabbing();
+            if (_device != null)
+                _device.StreamGrabber.FrameGrabedEvent -= OnFrameGrabbed;
+            _isGrabbing = false;
+            _logger.Information("Hikvision grabbing stopped.");
+        }
+        catch (Exception ex) when (ex is not CameraException)
+        {
+            _isGrabbing = false;
+            _logger.Error(ex, "Error while stopping Hikvision grabbing.");
+            throw new CameraException("Failed to stop grabbing.", ex);
+        }
+    }
+
+    private void EnsureConnected()
+    {
+        if (!_isConnected)
+            throw new InvalidOperationException("Hikvision camera is not connected. Call Open() first.");
+    }
+
+    /// <summary>
+    /// 确保 SDK 全局初始化（只调用一次）
+    /// </summary>
+    private static void EnsureSdkInitialized()
+    {
+        if (_sdkInitialized) return;
+        lock (_sdkInitLock)
+        {
+            if (_sdkInitialized) return;
+            try
+            {
+                int ret = SDKSystem.Initialize();
+                if (ret != MvError.MV_OK)
+                {
+                    _logger.Error("Hikvision SDK Initialize failed: 0x{ErrorCode:X8}", ret);
+                    throw new CameraException($"Hikvision SDK Initialize failed: 0x{ret:X8}");
+                }
+                _sdkInitialized = true;
+                _logger.Information("Hikvision SDK initialized successfully.");
+            }
+            catch (Exception ex) when (ex is not CameraException)
+            {
+                _logger.Error(ex, "Failed to initialize Hikvision SDK.");
+                throw new CameraException("Failed to initialize Hikvision SDK.", ex);
+            }
+        }
+    }
+}

XP.Camera/XP.Camera.csproj

@@ -7,12 +7,19 @@
     <Nullable>enable</Nullable>
     <RootNamespace>XP.Camera</RootNamespace>
     <AssemblyName>XP.Camera</AssemblyName>
+    <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
+    <GenerateBindingRedirectsOutputType>true</GenerateBindingRedirectsOutputType>
   </PropertyGroup>
 
   <ItemGroup>
     <Reference Include="Basler.Pylon">
       <HintPath>..\ExternalLibraries\Basler.Pylon.dll</HintPath>
     </Reference>
+    <Reference Include="MvCameraControl.Net">
+      <HintPath>..\ExternalLibraries\MvCameraControl.Net.dll</HintPath>
+      <Private>true</Private>
+      <CopyLocal>true</CopyLocal>
+    </Reference>
     <PackageReference Include="Emgu.CV" Version="4.10.0.5680" />
     <PackageReference Include="Emgu.CV.Bitmap" Version="4.10.0.5680" />
     <PackageReference Include="Prism.DryIoc" Version="9.0.537" />

XplorePlane/App.xaml.cs

@@ -321,7 +321,7 @@ namespace XplorePlane
             shell.Loaded += (s, e) =>
             {
                 // [DEV] 导航相机连接已屏蔽，开发阶段跳过以加快启动速度
-                // TryConnectCamera();
+                 TryConnectCamera();
 
                 // 初始化主界面探测器帧流水线，开始接收探测器图像事件
                 try
@@ -334,20 +334,20 @@ namespace XplorePlane
                 }
 
                 // [DEV] 相机状态通知已屏蔽
-                // try
+                 try
-                // {
+                 {
-                //     var cameraVm = Container.Resolve<NavigationPropertyPanelViewModel>();
+                     var cameraVm = Container.Resolve<NavigationPropertyPanelViewModel>();
-                //     cameraVm.OnCameraReady();
+                     cameraVm.OnCameraReady();
-                // }
+                 }
-                // catch (Exception ex)
+                 catch (Exception ex)
-                // {
+                 {
-                //     Log.Error(ex, "通知相机 ViewModel 失败");
+                     Log.Error(ex, "通知相机 ViewModel 失败");
-                // }
+                 }
 
-                // if (_cameraError != null)
+                 if (_cameraError != null)
-                // {
+                 {
-                //     HexMessageBox.Show(_cameraError, MessageBoxButton.OK, MessageBoxImage.Error);
+                     HexMessageBox.Show(_cameraError, MessageBoxButton.OK, MessageBoxImage.Error);
-                // }
+                 }
             };
 
             return shell;
@@ -462,7 +462,26 @@ namespace XplorePlane
             // ── 导航相机服务（单例）──
             containerRegistry.RegisterSingleton<ICameraFactory, CameraFactory>();
             containerRegistry.RegisterSingleton<ICameraController>(() =>
-                new CameraFactory().CreateController("Basler"));
+            {
+                string cameraType = "Hikvision"; // 默认值
+                try
+                {
+                    var configPath = Path.Combine(AppContext.BaseDirectory, "config.json");
+                    if (File.Exists(configPath))
+                    {
+                        var json = File.ReadAllText(configPath);
+                        var match = System.Text.RegularExpressions.Regex.Match(json, "\"CameraType\"\\s*:\\s*\"([^\"]+)\"");
+                        if (match.Success)
+                            cameraType = match.Groups[1].Value;
+                    }
+                }
+                catch (Exception ex)
+                {
+                    Log.Warning(ex, "读取 CameraType 配置失败，使用默认值 Hikvision");
+                }
+                Log.Information("相机类型: {CameraType}", cameraType);
+                return new CameraFactory().CreateController(cameraType);
+            });
             containerRegistry.RegisterSingleton<ICameraService, CameraService>();
 
             Log.Information("依赖注入容器配置完成");

XplorePlane/ViewModels/Main/NavigationPropertyPanelViewModel.cs

@@ -55,9 +55,6 @@ namespace XplorePlane.ViewModels
                     StopGrabCommand.RaiseCanExecuteChanged();
                     ApplyExposureCommand.RaiseCanExecuteChanged();
                     ApplyGainCommand.RaiseCanExecuteChanged();
-                    ApplyWidthCommand.RaiseCanExecuteChanged();
-                    ApplyHeightCommand.RaiseCanExecuteChanged();
-                    ApplyPixelFormatCommand.RaiseCanExecuteChanged();
                     RefreshCameraParamsCommand.RaiseCanExecuteChanged();
                     OpenCameraSettingsCommand.RaiseCanExecuteChanged();
                 }
@@ -79,7 +76,7 @@ namespace XplorePlane.ViewModels
             }
         }
 
-        private string _cameraStatusText = "未连接";
+        private string _cameraStatusText = "Disconnected";
 
         public string CameraStatusText
         {
@@ -152,8 +149,6 @@ namespace XplorePlane.ViewModels
             set => SetProperty(ref _selectedPixelFormat, value);
         }
 
-        public ObservableCollection<string> PixelFormatOptions { get; } = new() { "Mono8", "BGR8", "BGRA8" };
-
         #endregion Properties
 
         #region Commands
@@ -164,9 +159,6 @@ namespace XplorePlane.ViewModels
         public DelegateCommand StopGrabCommand { get; }
         public DelegateCommand ApplyExposureCommand { get; }
         public DelegateCommand ApplyGainCommand { get; }
-        public DelegateCommand ApplyWidthCommand { get; }
-        public DelegateCommand ApplyHeightCommand { get; }
-        public DelegateCommand ApplyPixelFormatCommand { get; }
         public DelegateCommand RefreshCameraParamsCommand { get; }
         public DelegateCommand OpenCameraSettingsCommand { get; }
 
@@ -183,9 +175,6 @@ namespace XplorePlane.ViewModels
             StopGrabCommand = new DelegateCommand(StopGrab, () => IsCameraGrabbing);
             ApplyExposureCommand = new DelegateCommand(() => ApplyCameraParam(() => _camera.SetExposureTime(ExposureTime)), () => IsCameraConnected);
             ApplyGainCommand = new DelegateCommand(() => ApplyCameraParam(() => _camera.SetGain(GainValue)), () => IsCameraConnected);
-            ApplyWidthCommand = new DelegateCommand(() => ApplyCameraParam(() => _camera.SetWidth(ImageWidth)), () => IsCameraConnected);
-            ApplyHeightCommand = new DelegateCommand(() => ApplyCameraParam(() => _camera.SetHeight(ImageHeight)), () => IsCameraConnected);
-            ApplyPixelFormatCommand = new DelegateCommand(() => ApplyCameraParam(() => _camera.SetPixelFormat(SelectedPixelFormat)), () => IsCameraConnected);
             RefreshCameraParamsCommand = new DelegateCommand(RefreshCameraParams, () => IsCameraConnected);
             OpenCameraSettingsCommand = new DelegateCommand(OpenCameraSettings, () => IsCameraConnected);
 
@@ -193,7 +182,7 @@ namespace XplorePlane.ViewModels
             _defaultImageSource = new BitmapImage(new Uri("pack://application:,,,/Assets/Icons/NoCamera.png"));
             _cameraImageSource = _defaultImageSource;
 
-            CameraStatusText = "正在检索相机...";
+            CameraStatusText = "Searching camera...";
         }
 
         /// <summary>
@@ -203,7 +192,7 @@ namespace XplorePlane.ViewModels
         {
             if (!_camera.IsConnected)
             {
-                CameraStatusText = "未检测到相机";
+                CameraStatusText = "No camera detected";
                 return;
             }
 
@@ -212,7 +201,7 @@ namespace XplorePlane.ViewModels
             _camera.ConnectionLost += OnCameraConnectionLost;
 
             IsCameraConnected = true;
-            CameraStatusText = "已连接";
+            CameraStatusText = "Connected";
             RefreshCameraParams();
             SyncCameraStateToAppState();
             StartGrab();
@@ -231,7 +220,7 @@ namespace XplorePlane.ViewModels
 
                 var info = _camera.Open();
                 IsCameraConnected = true;
-                CameraStatusText = $"已连接: {info.ModelName} (SN: {info.SerialNumber})";
+                CameraStatusText = $"Connected: {info.ModelName} (SN: {info.SerialNumber})";
                 _logger.Information("Camera connected: {ModelName}", info.ModelName);
                 RefreshCameraParams();
                 SyncCameraStateToAppState();
@@ -239,7 +228,7 @@ namespace XplorePlane.ViewModels
             catch (Exception ex)
             {
                 _logger.Error(ex, "Failed to connect camera");
-                CameraStatusText = $"连接失败: {ex.Message}";
+                CameraStatusText = $"Connection failed: {ex.Message}";
                 IsCameraConnected = false;
                 SyncCameraStateToAppState();
             }
@@ -263,7 +252,7 @@ namespace XplorePlane.ViewModels
                 _camera.ConnectionLost -= OnCameraConnectionLost;
                 IsCameraConnected = false;
                 IsCameraGrabbing = false;
-                CameraStatusText = "未连接";
+                CameraStatusText = "Disconnected";
                 CameraImageSource = null;
                 SyncCameraStateToAppState();
                 _logger.Information("Camera disconnected");
@@ -276,7 +265,7 @@ namespace XplorePlane.ViewModels
             {
                 _camera.StartGrabbing();
                 IsCameraGrabbing = true;
-                CameraStatusText = "采集中...";
+                CameraStatusText = "Grabbing...";
                 SyncCameraStateToAppState();
 
                 // 如果已勾选实时，自动启动 Live View
@@ -288,7 +277,7 @@ namespace XplorePlane.ViewModels
             catch (Exception ex)
             {
                 _logger.Error(ex, "Failed to start grabbing");
-                CameraStatusText = $"采集失败: {ex.Message}";
+                CameraStatusText = $"Grab failed: {ex.Message}";
             }
         }
 
@@ -299,7 +288,7 @@ namespace XplorePlane.ViewModels
                 IsLiveViewEnabled = false;
                 _camera.StopGrabbing();
                 IsCameraGrabbing = false;
-                CameraStatusText = "已停止采集";
+                CameraStatusText = "Grab stopped";
                 SyncCameraStateToAppState();
             }
             catch (Exception ex)
@@ -313,7 +302,7 @@ namespace XplorePlane.ViewModels
             if (!IsCameraGrabbing) return;
 
             _liveViewRunning = true;
-            CameraStatusText = "实时采集中...";
+            CameraStatusText = "Live...";
 
             try { _camera.ExecuteSoftwareTrigger(); }
             catch (Exception ex) { _logger.Error(ex, "Live view trigger failed"); }
@@ -323,7 +312,7 @@ namespace XplorePlane.ViewModels
         {
             _liveViewRunning = false;
             if (IsCameraGrabbing)
-                CameraStatusText = "采集中...";
+                CameraStatusText = "Grabbing...";
         }
 
         private void RefreshCameraParams()
@@ -334,13 +323,16 @@ namespace XplorePlane.ViewModels
                 GainValue = _camera.GetGain();
                 ImageWidth = _camera.GetWidth();
                 ImageHeight = _camera.GetHeight();
-                SelectedPixelFormat = _camera.GetPixelFormat();
+
+                var currentFormat = _camera.GetPixelFormat();
+                SelectedPixelFormat = currentFormat;
+
                 _logger.Information("Camera parameters refreshed");
             }
             catch (Exception ex)
             {
                 _logger.Error(ex, "Failed to read camera parameters");
-                CameraStatusText = $"读取参数失败: {ex.Message}";
+                CameraStatusText = $"Read params failed: {ex.Message}";
             }
         }
 
@@ -354,7 +346,7 @@ namespace XplorePlane.ViewModels
             catch (Exception ex)
             {
                 _logger.Error(ex, "Failed to apply camera parameter");
-                CameraStatusText = $"设置参数失败: {ex.Message}";
+                CameraStatusText = $"Set param failed: {ex.Message}";
             }
         }
 
@@ -385,17 +377,21 @@ namespace XplorePlane.ViewModels
                     if (!_disposed)
                         CameraImageSource = bitmap;
                 });
-
-                if (_liveViewRunning)
-                {
-                    _camera.ExecuteSoftwareTrigger();
-                }
             }
             catch (Exception ex)
             {
                 if (!_disposed)
                     _logger.Error(ex, "Failed to process camera image");
             }
+            finally
+            {
+                // 无论图像处理是否成功，都继续触发下一帧，保持采集链不断
+                if (_liveViewRunning && !_disposed)
+                {
+                    try { _camera.ExecuteSoftwareTrigger(); }
+                    catch { /* 忽略触发失败 */ }
+                }
+            }
         }
 
         private void OnCameraGrabError(object? sender, GrabErrorEventArgs e)
@@ -407,7 +403,7 @@ namespace XplorePlane.ViewModels
             app.Dispatcher.BeginInvoke(() =>
             {
                 if (!_disposed)
-                    CameraStatusText = $"采集错误: {e.ErrorDescription}";
+                    CameraStatusText = $"Grab error: {e.ErrorDescription}";
             });
         }
 
@@ -422,7 +418,7 @@ namespace XplorePlane.ViewModels
                 if (_disposed) return;
                 IsCameraConnected = false;
                 IsCameraGrabbing = false;
-                CameraStatusText = "连接已断开";
+                CameraStatusText = "Connection lost";
                 CameraImageSource = null;
                 SyncCameraStateToAppState();
             });

XplorePlane/Views/Setting/CameraSettingsWindow.xaml

@@ -59,21 +59,11 @@
         <Border Style="{StaticResource CardStyle}">
             <StackPanel>
                 <TextBlock Text="图像宽度 (px)" Style="{StaticResource ParamLabel}" />
-                <DockPanel Margin="0,0,0,8">
+                <TextBox Text="{Binding ImageWidth, Mode=OneWay}" IsReadOnly="True" Background="#F0F0F0"
-                    <TextBox DockPanel.Dock="Right" Width="65"
+                         Height="28" FontSize="11.5" VerticalContentAlignment="Center" Margin="0,0,0,8" />
-                             Text="{Binding ImageWidth, UpdateSourceTrigger=PropertyChanged}"
-                             VerticalContentAlignment="Center" Margin="6,0,0,0" />
-                    <Slider Minimum="64" Maximum="8192" Value="{Binding ImageWidth}"
-                            SmallChange="1" LargeChange="100" VerticalAlignment="Center" />
-                </DockPanel>
                 <TextBlock Text="图像高度 (px)" Style="{StaticResource ParamLabel}" />
-                <DockPanel>
+                <TextBox Text="{Binding ImageHeight, Mode=OneWay}" IsReadOnly="True" Background="#F0F0F0"
-                    <TextBox DockPanel.Dock="Right" Width="65"
+                         Height="28" FontSize="11.5" VerticalContentAlignment="Center" />
-                             Text="{Binding ImageHeight, UpdateSourceTrigger=PropertyChanged}"
-                             VerticalContentAlignment="Center" Margin="6,0,0,0" />
-                    <Slider Minimum="64" Maximum="8192" Value="{Binding ImageHeight}"
-                            SmallChange="1" LargeChange="100" VerticalAlignment="Center" />
-                </DockPanel>
             </StackPanel>
         </Border>
 
@@ -81,9 +71,9 @@
         <Border Style="{StaticResource CardStyle}">
             <StackPanel>
                 <TextBlock Text="像素格式" Style="{StaticResource ParamLabel}" />
-                <ComboBox SelectedItem="{Binding SelectedPixelFormat}"
+                <TextBox Text="{Binding SelectedPixelFormat, Mode=OneWay}"
-                          ItemsSource="{Binding PixelFormatOptions}"
+                         IsReadOnly="True" Background="#F0F0F0"
-                          Height="28" FontSize="11.5" VerticalContentAlignment="Center" />
+                         Height="28" FontSize="11.5" VerticalContentAlignment="Center" />
             </StackPanel>
         </Border>
 

XplorePlane/Views/Setting/CameraSettingsWindow.xaml.cs

@@ -18,9 +18,6 @@ namespace XplorePlane.Views
             var type = dc.GetType();
             ExecuteCommand(type, dc, "ApplyExposureCommand");
             ExecuteCommand(type, dc, "ApplyGainCommand");
-            ExecuteCommand(type, dc, "ApplyWidthCommand");
-            ExecuteCommand(type, dc, "ApplyHeightCommand");
-            ExecuteCommand(type, dc, "ApplyPixelFormatCommand");
         }
 
         private static void ExecuteCommand(System.Type type, object dc, string cmdName)

XplorePlane/XplorePlane.csproj

@@ -50,6 +50,12 @@
       <Private>True</Private>
     </Reference>
 
+    <!-- 海康威视相机 SDK (.NET Framework 4.0) -->
+    <Reference Include="MvCameraControl.Net">
+      <HintPath>..\ExternalLibraries\MvCameraControl.Net.dll</HintPath>
+      <Private>true</Private>
+    </Reference>
+    
   </ItemGroup>
 	
   <!-- Telerik UI for WPF -->