TURBO-569：更新工程结构；将导航相机标定和校准功能迁移到XP.Camera类

XP.Camera/Calibration/CalibrationLocalizedStrings.cs

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+using XP.Camera.Calibration.Resources;
+
+namespace XP.Camera.Calibration;
+
+public class CalibrationLocalizedStrings
+{
+    public CalibrationResources Resources { get; } = new CalibrationResources();
+}

XP.Camera/Calibration/CalibrationProcessor.cs

@@ -0,0 +1,201 @@
+// ============================================================================
+// 文件名: CalibrationProcessor.cs
+// 描述: 标定处理器，实现图像坐标系到世界坐标系的转换
+// 功能:
+//   - 基于多点标定计算透视变换矩阵（支持4点及以上）
+//   - 像素坐标到世界坐标的转换
+//   - 标定数据的保存和加载（JSON格式）
+//   - 从CSV文件导入标定点数据
+// 算法: 使用DLT（Direct Linear Transformation）方法求解单应性矩阵
+// ============================================================================
+
+using Emgu.CV;
+using System.IO;
+using System.Text.Json;
+
+namespace XP.Camera.Calibration;
+
+/// <summary>
+/// 九点标定处理器
+/// </summary>
+public class CalibrationProcessor
+{
+    public class CalibrationPoint
+    {
+        public double PixelX { get; set; }
+        public double PixelY { get; set; }
+        public double WorldX { get; set; }
+        public double WorldY { get; set; }
+    }
+
+    public class CalibrationData
+    {
+        public List<CalibrationPoint> Points { get; set; } = new List<CalibrationPoint>();
+        public double[] TransformMatrix { get; set; } = new double[9];
+        public DateTime CalibrationTime { get; set; }
+    }
+
+    private Matrix<double>? _transformMatrix;
+
+    /// <summary>
+    /// 执行九点标定
+    /// </summary>
+    public bool Calibrate(List<CalibrationPoint> points)
+    {
+        if (points.Count < 4)
+            return false;
+
+        int n = points.Count;
+        var A = new Matrix<double>(2 * n, 8);
+        var b = new Matrix<double>(2 * n, 1);
+
+        for (int i = 0; i < n; i++)
+        {
+            double u = points[i].PixelX;
+            double v = points[i].PixelY;
+            double x = points[i].WorldX;
+            double y = points[i].WorldY;
+
+            A[2 * i, 0] = u;
+            A[2 * i, 1] = v;
+            A[2 * i, 2] = 1;
+            A[2 * i, 3] = 0;
+            A[2 * i, 4] = 0;
+            A[2 * i, 5] = 0;
+            A[2 * i, 6] = -x * u;
+            A[2 * i, 7] = -x * v;
+            b[2 * i, 0] = x;
+
+            A[2 * i + 1, 0] = 0;
+            A[2 * i + 1, 1] = 0;
+            A[2 * i + 1, 2] = 0;
+            A[2 * i + 1, 3] = u;
+            A[2 * i + 1, 4] = v;
+            A[2 * i + 1, 5] = 1;
+            A[2 * i + 1, 6] = -y * u;
+            A[2 * i + 1, 7] = -y * v;
+            b[2 * i + 1, 0] = y;
+        }
+
+        var h = new Matrix<double>(8, 1);
+        CvInvoke.Solve(A, b, h, Emgu.CV.CvEnum.DecompMethod.Svd);
+
+        _transformMatrix = new Matrix<double>(3, 3);
+        _transformMatrix[0, 0] = h[0, 0];
+        _transformMatrix[0, 1] = h[1, 0];
+        _transformMatrix[0, 2] = h[2, 0];
+        _transformMatrix[1, 0] = h[3, 0];
+        _transformMatrix[1, 1] = h[4, 0];
+        _transformMatrix[1, 2] = h[5, 0];
+        _transformMatrix[2, 0] = h[6, 0];
+        _transformMatrix[2, 1] = h[7, 0];
+        _transformMatrix[2, 2] = 1.0;
+
+        return true;
+    }
+
+    /// <summary>
+    /// 像素坐标转世界坐标
+    /// </summary>
+    public System.Drawing.PointF PixelToWorld(System.Drawing.PointF pixel)
+    {
+        if (_transformMatrix == null)
+            return pixel;
+
+        double u = pixel.X;
+        double v = pixel.Y;
+
+        double w = _transformMatrix[2, 0] * u + _transformMatrix[2, 1] * v + _transformMatrix[2, 2];
+        double x = (_transformMatrix[0, 0] * u + _transformMatrix[0, 1] * v + _transformMatrix[0, 2]) / w;
+        double y = (_transformMatrix[1, 0] * u + _transformMatrix[1, 1] * v + _transformMatrix[1, 2]) / w;
+
+        return new System.Drawing.PointF((float)x, (float)y);
+    }
+
+    /// <summary>
+    /// 保存标定文件
+    /// </summary>
+    public void SaveCalibration(string filePath, List<CalibrationPoint> points)
+    {
+        var data = new CalibrationData
+        {
+            Points = points,
+            TransformMatrix = new double[9],
+            CalibrationTime = DateTime.Now
+        };
+
+        if (_transformMatrix != null)
+        {
+            for (int i = 0; i < 3; i++)
+                for (int j = 0; j < 3; j++)
+                    data.TransformMatrix[i * 3 + j] = _transformMatrix[i, j];
+        }
+
+        var json = JsonSerializer.Serialize(data, new JsonSerializerOptions { WriteIndented = true });
+        File.WriteAllText(filePath, json);
+    }
+
+    /// <summary>
+    /// 加载标定文件
+    /// </summary>
+    public bool LoadCalibration(string filePath)
+    {
+        if (!File.Exists(filePath))
+            return false;
+
+        try
+        {
+            var json = File.ReadAllText(filePath);
+            var data = JsonSerializer.Deserialize<CalibrationData>(json);
+
+            if (data == null || data.TransformMatrix == null || data.TransformMatrix.Length != 9)
+                return false;
+
+            _transformMatrix = new Matrix<double>(3, 3);
+            for (int i = 0; i < 3; i++)
+                for (int j = 0; j < 3; j++)
+                    _transformMatrix[i, j] = data.TransformMatrix[i * 3 + j];
+
+            return true;
+        }
+        catch
+        {
+            return false;
+        }
+    }
+
+    /// <summary>
+    /// 从CSV文件加载标定点
+    /// </summary>
+    public List<CalibrationPoint> LoadPointsFromCsv(string filePath)
+    {
+        var points = new List<CalibrationPoint>();
+        if (!File.Exists(filePath))
+            return points;
+
+        var lines = File.ReadAllLines(filePath);
+        for (int i = 0; i < lines.Length; i++)
+        {
+            if (i == 0 && (lines[i].Contains("PixelX") || lines[i].Contains("像素"))) continue;
+
+            var parts = lines[i].Split(',');
+            if (parts.Length >= 4)
+            {
+                if (double.TryParse(parts[0].Trim(), out double px) &&
+                    double.TryParse(parts[1].Trim(), out double py) &&
+                    double.TryParse(parts[2].Trim(), out double wx) &&
+                    double.TryParse(parts[3].Trim(), out double wy))
+                {
+                    points.Add(new CalibrationPoint
+                    {
+                        PixelX = px,
+                        PixelY = py,
+                        WorldX = wx,
+                        WorldY = wy
+                    });
+                }
+            }
+        }
+        return points;
+    }
+}

XP.Camera/Calibration/ChessboardCalibrator.cs

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+// ============================================================================
+// 文件名: ChessboardCalibrator.cs
+// 描述: 棋盘格标定器，实现基于棋盘格的相机内参标定
+// 功能:
+//   - 从多张棋盘格图像中检测角点
+//   - 计算相机内参矩阵和畸变系数
+//   - 图像去畸变处理
+//   - 计算重投影误差评估标定质量
+//   - 标定结果的保存和加载（JSON格式）
+// 算法: 使用 Zhang's 标定方法进行相机标定
+// ============================================================================
+
+using Emgu.CV;
+using Emgu.CV.CvEnum;
+using Emgu.CV.Structure;
+using Emgu.CV.Util;
+using System.IO;
+using System.Runtime.InteropServices;
+using System.Text.Json;
+
+namespace XP.Camera.Calibration;
+
+public class ChessboardCalibrator
+{
+    public class CalibrationResult
+    {
+        public double[][] CameraMatrix { get; set; } = new double[3][];
+        public double[] DistortionCoeffs { get; set; } = Array.Empty<double>();
+        public double ReprojectionError { get; set; }
+        public DateTime CalibrationTime { get; set; }
+    }
+
+    private Mat? _cameraMatrix;
+    private Mat? _distCoeffs;
+    private double _reprojectionError;
+    private List<double> _perImageErrors = new List<double>();
+
+    public double ReprojectionError => _reprojectionError;
+    public List<double> PerImageErrors => _perImageErrors;
+
+    // 进度报告委托
+    public delegate void ProgressReportHandler(int current, int total, string message);
+
+    public event ProgressReportHandler? ProgressChanged;
+
+    public bool CalibrateFromImages(List<string> imagePaths, int boardWidth, int boardHeight, float squareSize, out string errorMsg)
+    {
+        errorMsg = "";
+        var objectPoints = new VectorOfVectorOfPoint3D32F();
+        var imagePoints = new VectorOfVectorOfPointF();
+        var imageSize = new System.Drawing.Size();
+
+        var objp = new MCvPoint3D32f[boardWidth * boardHeight];
+        for (int i = 0; i < boardHeight; i++)
+            for (int j = 0; j < boardWidth; j++)
+                objp[i * boardWidth + j] = new MCvPoint3D32f(j * squareSize, i * squareSize, 0);
+
+        int validImages = 0;
+        int totalImages = imagePaths.Count;
+
+        // 第一阶段：检测角点
+        for (int idx = 0; idx < totalImages; idx++)
+        {
+            var path = imagePaths[idx];
+            ProgressChanged?.Invoke(idx + 1, totalImages * 2, $"检测角点 ({idx + 1}/{totalImages})");
+
+            var img = CvInvoke.Imread(path, ImreadModes.Grayscale);
+            if (img.IsEmpty) continue;
+
+            imageSize = img.Size;
+            var corners = new VectorOfPointF();
+
+            if (CvInvoke.FindChessboardCorners(img, new System.Drawing.Size(boardWidth, boardHeight), corners))
+            {
+                // 亚像素级角点精化
+                CvInvoke.CornerSubPix(img, corners, new System.Drawing.Size(5, 5), new System.Drawing.Size(-1, -1),
+                    new MCvTermCriteria(30, 0.001));
+
+                objectPoints.Push(new VectorOfPoint3D32F(objp));
+                imagePoints.Push(corners);
+                validImages++;
+            }
+            img.Dispose();
+        }
+
+        if (validImages < 3)
+        {
+            errorMsg = $"有效图像不足，需要至少3张，当前{validImages}张";
+            ProgressChanged?.Invoke(0, 100, "标定失败");
+            return false;
+        }
+
+        // 第二阶段：执行标定
+        ProgressChanged?.Invoke(totalImages, totalImages * 2, "执行相机标定...");
+
+        _cameraMatrix = new Mat();
+        _distCoeffs = new Mat();
+        var rvecs = new VectorOfMat();
+        var tvecs = new VectorOfMat();
+
+        _reprojectionError = CvInvoke.CalibrateCamera(objectPoints, imagePoints, imageSize, _cameraMatrix, _distCoeffs,
+            rvecs, tvecs, CalibType.Default, new MCvTermCriteria(30, 1e-6));
+
+        // 第三阶段：计算每张图像的重投影误差
+        _perImageErrors.Clear();
+        for (int i = 0; i < objectPoints.Size; i++)
+        {
+            ProgressChanged?.Invoke(totalImages + i + 1, totalImages * 2, $"计算重投影误差 ({i + 1}/{objectPoints.Size})");
+
+            var projectedPoints = new VectorOfPointF();
+            CvInvoke.ProjectPoints(objectPoints[i], rvecs[i], tvecs[i], _cameraMatrix, _distCoeffs, projectedPoints);
+
+            double error = 0;
+            for (int j = 0; j < projectedPoints.Size; j++)
+            {
+                var dx = imagePoints[i][j].X - projectedPoints[j].X;
+                var dy = imagePoints[i][j].Y - projectedPoints[j].Y;
+                error += Math.Sqrt(dx * dx + dy * dy);
+            }
+            _perImageErrors.Add(error / projectedPoints.Size);
+        }
+
+        ProgressChanged?.Invoke(totalImages * 2, totalImages * 2, "标定完成");
+        return true;
+    }
+
+    public Mat UndistortImage(Mat inputImage)
+    {
+        if (_cameraMatrix == null || _distCoeffs == null)
+            return inputImage;
+
+        var output = new Mat();
+        CvInvoke.Undistort(inputImage, output, _cameraMatrix, _distCoeffs);
+        return output;
+    }
+
+    public Mat? DrawChessboardCorners(string imagePath, int boardWidth, int boardHeight)
+    {
+        var img = CvInvoke.Imread(imagePath);
+        if (img.IsEmpty) return null;
+
+        var gray = new Mat();
+        CvInvoke.CvtColor(img, gray, ColorConversion.Bgr2Gray);
+        var corners = new VectorOfPointF();
+
+        if (CvInvoke.FindChessboardCorners(gray, new System.Drawing.Size(boardWidth, boardHeight), corners))
+        {
+            CvInvoke.CornerSubPix(gray, corners, new System.Drawing.Size(11, 11), new System.Drawing.Size(-1, -1),
+                new MCvTermCriteria(30, 0.001));
+            CvInvoke.DrawChessboardCorners(img, new System.Drawing.Size(boardWidth, boardHeight), corners, true);
+        }
+
+        gray.Dispose();
+        return img;
+    }
+
+    public void SaveCalibration(string filePath)
+    {
+        if (_cameraMatrix == null || _distCoeffs == null)
+            throw new InvalidOperationException("请先执行标定");
+
+        var result = new CalibrationResult
+        {
+            CameraMatrix = new double[3][],
+            DistortionCoeffs = new double[_distCoeffs.Rows],
+            ReprojectionError = _reprojectionError,
+            CalibrationTime = DateTime.Now
+        };
+
+        for (int i = 0; i < 3; i++)
+        {
+            result.CameraMatrix[i] = new double[3];
+            for (int j = 0; j < 3; j++)
+            {
+                double[] data = new double[1];
+                Marshal.Copy(_cameraMatrix.DataPointer + (i * 3 + j) * 8, data, 0, 1);
+                result.CameraMatrix[i][j] = data[0];
+            }
+        }
+
+        for (int i = 0; i < _distCoeffs.Rows; i++)
+        {
+            double[] data = new double[1];
+            Marshal.Copy(_distCoeffs.DataPointer + i * 8, data, 0, 1);
+            result.DistortionCoeffs[i] = data[0];
+        }
+
+        var json = JsonSerializer.Serialize(result, new JsonSerializerOptions { WriteIndented = true });
+        File.WriteAllText(filePath, json);
+    }
+
+    public bool LoadCalibration(string filePath)
+    {
+        if (!File.Exists(filePath)) return false;
+
+        try
+        {
+            var json = File.ReadAllText(filePath);
+            var result = JsonSerializer.Deserialize<CalibrationResult>(json);
+
+            if (result == null) return false;
+
+            _reprojectionError = result.ReprojectionError;
+
+            _cameraMatrix = new Mat(3, 3, DepthType.Cv64F, 1);
+            for (int i = 0; i < 3; i++)
+                for (int j = 0; j < 3; j++)
+                    Marshal.Copy(new[] { result.CameraMatrix[i][j] }, 0, _cameraMatrix.DataPointer + (i * 3 + j) * 8, 1);
+
+            _distCoeffs = new Mat(result.DistortionCoeffs.Length, 1, DepthType.Cv64F, 1);
+            for (int i = 0; i < result.DistortionCoeffs.Length; i++)
+                Marshal.Copy(new[] { result.DistortionCoeffs[i] }, 0, _distCoeffs.DataPointer + i * 8, 1);
+
+            return true;
+        }
+        catch
+        {
+            return false;
+        }
+    }
+}

XP.Camera/Calibration/Controls/CalibrationControl.xaml

@@ -0,0 +1,176 @@
+<UserControl x:Class="XP.Camera.Calibration.Controls.CalibrationControl"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+             xmlns:iconPacks="http://metro.mahapps.com/winfx/xaml/iconpacks"
+             xmlns:cal="clr-namespace:XP.Camera.Calibration"
+             xmlns:controls="clr-namespace:XP.Camera.Calibration.Controls"
+             mc:Ignorable="d"
+             d:DesignHeight="850"
+             d:DesignWidth="1400">
+    <UserControl.Resources>
+        <cal:CalibrationLocalizedStrings x:Key="LocalizedStrings" />
+        <SolidColorBrush x:Key="PrimaryColor" Color="#F5F5F5" />
+        <SolidColorBrush x:Key="AccentColor" Color="#0078D4" />
+        <SolidColorBrush x:Key="BackgroundColor" Color="#FAFAFA" />
+        <SolidColorBrush x:Key="SidebarColor" Color="#FFFFFF" />
+        <SolidColorBrush x:Key="BorderColor" Color="#E1E1E1" />
+        <SolidColorBrush x:Key="TextColor" Color="#333333" />
+        <SolidColorBrush x:Key="TextSecondaryColor" Color="#666666" />
+
+        <Style x:Key="ToolbarButtonStyle" TargetType="Button">
+            <Setter Property="Width" Value="90" />
+            <Setter Property="Height" Value="70" />
+            <Setter Property="Margin" Value="0,0,8,0" />
+            <Setter Property="Background" Value="White" />
+            <Setter Property="Foreground" Value="{StaticResource TextColor}" />
+            <Setter Property="BorderBrush" Value="{StaticResource BorderColor}" />
+            <Setter Property="BorderThickness" Value="1" />
+            <Setter Property="Cursor" Value="Hand" />
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="Button">
+                        <Border Background="{TemplateBinding Background}"
+                                BorderBrush="{TemplateBinding BorderBrush}"
+                                BorderThickness="{TemplateBinding BorderThickness}"
+                                CornerRadius="3">
+                            <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
+                                <ContentPresenter Content="{TemplateBinding Tag}"
+                                                  HorizontalAlignment="Center"
+                                                  Margin="0,4,0,4" />
+                                <TextBlock Text="{TemplateBinding Content}"
+                                           FontSize="12"
+                                           HorizontalAlignment="Center"
+                                           Foreground="{TemplateBinding Foreground}"
+                                           TextWrapping="Wrap"
+                                           TextAlignment="Center" />
+                            </StackPanel>
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsMouseOver" Value="True">
+                                <Setter Property="Background" Value="#E5F3FF" />
+                                <Setter Property="BorderBrush" Value="{StaticResource AccentColor}" />
+                            </Trigger>
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter Property="Background" Value="#CCE8FF" />
+                            </Trigger>
+                            <Trigger Property="IsEnabled" Value="False">
+                                <Setter Property="Opacity" Value="0.5" />
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+    </UserControl.Resources>
+
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="Auto" />
+            <RowDefinition Height="*" />
+            <RowDefinition Height="Auto" />
+        </Grid.RowDefinitions>
+
+        <Border Grid.Row="0" Background="{StaticResource PrimaryColor}" BorderBrush="{StaticResource BorderColor}"
+                BorderThickness="0,0,0,1" Padding="15,10">
+            <StackPanel Orientation="Horizontal">
+                <Button Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.CalibrationLoadImage}"
+                        Command="{Binding LoadImageCommand}" FontFamily="Segoe UI"
+                        Style="{StaticResource ToolbarButtonStyle}">
+                    <Button.Tag>
+                        <iconPacks:PackIconMaterial Kind="ImageOutline" Width="24" Height="24" />
+                    </Button.Tag>
+                </Button>
+                <Button Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.CalibrationLoadCsv}"
+                        Command="{Binding LoadCsvCommand}" FontFamily="Segoe UI"
+                        Style="{StaticResource ToolbarButtonStyle}">
+                    <Button.Tag>
+                        <iconPacks:PackIconMaterial Kind="FileDelimited" Width="24" Height="24" />
+                    </Button.Tag>
+                </Button>
+                <Button Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.CalibrationExecute}"
+                        Command="{Binding CalibrateCommand}" FontFamily="Segoe UI"
+                        Style="{StaticResource ToolbarButtonStyle}">
+                    <Button.Tag>
+                        <iconPacks:PackIconMaterial Kind="Crosshairs" Width="24" Height="24" />
+                    </Button.Tag>
+                </Button>
+                <Button Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.CalibrationSave}"
+                        Command="{Binding SaveCalibrationCommand}" FontFamily="Segoe UI"
+                        Style="{StaticResource ToolbarButtonStyle}">
+                    <Button.Tag>
+                        <iconPacks:PackIconMaterial Kind="ContentSave" Width="24" Height="24" />
+                    </Button.Tag>
+                </Button>
+                <Button Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.CalibrationLoad}"
+                        Command="{Binding LoadCalibrationCommand}" FontFamily="Segoe UI"
+                        Style="{StaticResource ToolbarButtonStyle}">
+                    <Button.Tag>
+                        <iconPacks:PackIconMaterial Kind="FolderOpen" Width="24" Height="24" />
+                    </Button.Tag>
+                </Button>
+                <CheckBox Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.CalibrationShowWorld}"
+                          VerticalAlignment="Center" FontFamily="Segoe UI"
+                          IsChecked="{Binding ShowWorldCoordinates}"
+                          Margin="10,0,0,0" FontSize="13" Foreground="{StaticResource TextColor}" />
+            </StackPanel>
+        </Border>
+
+        <Grid Grid.Row="1">
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="400" />
+                <ColumnDefinition Width="*" />
+            </Grid.ColumnDefinitions>
+
+            <Border Grid.Column="0" BorderBrush="{StaticResource BorderColor}" BorderThickness="0,0,1,0"
+                    Background="{StaticResource SidebarColor}">
+                <Grid Margin="12">
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="Auto" />
+                        <RowDefinition Height="*" />
+                    </Grid.RowDefinitions>
+
+                    <TextBlock Grid.Row="0" Text="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.CalibrationPointList}"
+                               FontSize="15" FontWeight="SemiBold" FontFamily="Segoe UI"
+                               Margin="0,0,0,12" Foreground="{StaticResource TextColor}" />
+
+                    <DataGrid Grid.Row="1" AutoGenerateColumns="False" CanUserAddRows="True"
+                              ItemsSource="{Binding CalibrationPoints}"
+                              HeadersVisibility="Column" GridLinesVisibility="All"
+                              FontFamily="Segoe UI"
+                              BorderBrush="{StaticResource BorderColor}" BorderThickness="1">
+                        <DataGrid.Columns>
+                            <DataGridTextColumn Header="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.CalibrationPixelX}"
+                                                Binding="{Binding PixelX}" FontFamily="Segoe UI" Width="*" />
+                            <DataGridTextColumn Header="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.CalibrationPixelY}"
+                                                Binding="{Binding PixelY}" FontFamily="Segoe UI" Width="*" />
+                            <DataGridTextColumn Header="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.CalibrationWorldX}"
+                                                Binding="{Binding WorldX}" FontFamily="Segoe UI" Width="*" />
+                            <DataGridTextColumn Header="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.CalibrationWorldY}"
+                                                Binding="{Binding WorldY}" FontFamily="Segoe UI" Width="*" />
+                        </DataGrid.Columns>
+                    </DataGrid>
+                </Grid>
+            </Border>
+
+            <Grid Grid.Column="1" Background="{StaticResource BackgroundColor}">
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="*" />
+                    <RowDefinition Height="Auto" />
+                </Grid.RowDefinitions>
+
+                <controls:ImageCanvasControl Grid.Row="0" x:Name="imageCanvas" Margin="12,12,12,8" />
+
+                <Border Grid.Row="1" Background="White" BorderBrush="{StaticResource BorderColor}" BorderThickness="1"
+                        Margin="12,0,12,12" Padding="12" MinHeight="80">
+                    <ScrollViewer VerticalScrollBarVisibility="Auto" HorizontalScrollBarVisibility="Disabled">
+                        <TextBlock TextWrapping="Wrap" FontSize="12"
+                                   Text="{Binding StatusText}" FontFamily="Segoe UI"
+                                   Foreground="{StaticResource TextColor}" />
+                    </ScrollViewer>
+                </Border>
+            </Grid>
+        </Grid>
+    </Grid>
+</UserControl>

XP.Camera/Calibration/Controls/CalibrationControl.xaml.cs

@@ -0,0 +1,104 @@
+using System.Drawing;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Input;
+using XP.Camera.Calibration.ViewModels;
+using WpfBrushes = System.Windows.Media.Brushes;
+using WpfColor = System.Windows.Media.Color;
+
+namespace XP.Camera.Calibration.Controls;
+
+public partial class CalibrationControl : UserControl
+{
+    private CalibrationViewModel? _viewModel;
+
+    public CalibrationControl()
+    {
+        InitializeComponent();
+        Loaded += CalibrationControl_Loaded;
+    }
+
+    private void CalibrationControl_Loaded(object sender, RoutedEventArgs e)
+    {
+        if (DataContext is CalibrationViewModel viewModel)
+        {
+            _viewModel = viewModel;
+
+            _viewModel.ImageLoadedRequested += (s, e) =>
+            {
+                imageCanvas.ReferenceImage = _viewModel.ImageSource;
+                imageCanvas.RoiCanvas.Children.Clear();
+            };
+
+            imageCanvas.CanvasRightMouseUp += ImageCanvas_RightMouseUp;
+            imageCanvas.CanvasMouseWheel += ImageCanvas_MouseWheel;
+        }
+    }
+
+    private void ImageCanvas_MouseWheel(object? sender, MouseWheelEventArgs e)
+    {
+        if (_viewModel?.CurrentImage == null) return;
+
+        double zoom = e.Delta > 0 ? 1.1 : 0.9;
+        imageCanvas.ZoomScale *= zoom;
+        imageCanvas.ZoomScale = Math.Max(0.1, Math.Min(imageCanvas.ZoomScale, 10));
+    }
+
+    private void ImageCanvas_RightMouseUp(object? sender, MouseButtonEventArgs e)
+    {
+        if (_viewModel?.CurrentImage == null) return;
+
+        var pos = e.GetPosition(imageCanvas.RoiCanvas);
+        float imageX = (float)pos.X;
+        float imageY = (float)pos.Y;
+
+        if (imageX >= 0 && imageX < _viewModel.CurrentImage.Width &&
+            imageY >= 0 && imageY < _viewModel.CurrentImage.Height)
+        {
+            var pixelPoint = new PointF(imageX, imageY);
+            var worldPoint = _viewModel.ConvertPixelToWorld(pixelPoint);
+
+            _viewModel.StatusText = $"像素坐标: ({imageX:F2}, {imageY:F2})\n世界坐标: ({worldPoint.X:F2}, {worldPoint.Y:F2})";
+
+            DrawMarkerOnCanvas(imageX, imageY, worldPoint);
+        }
+    }
+
+    private void DrawMarkerOnCanvas(float imageX, float imageY, PointF worldPoint)
+    {
+        imageCanvas.RoiCanvas.Children.Clear();
+
+        var ellipse = new System.Windows.Shapes.Ellipse
+        {
+            Width = 10, Height = 10,
+            Stroke = WpfBrushes.Red, StrokeThickness = 2,
+            Fill = WpfBrushes.Transparent
+        };
+        Canvas.SetLeft(ellipse, imageX - 5);
+        Canvas.SetTop(ellipse, imageY - 5);
+        imageCanvas.RoiCanvas.Children.Add(ellipse);
+
+        var pixelText = new TextBlock
+        {
+            Text = $"P:({imageX:F0},{imageY:F0})",
+            Foreground = WpfBrushes.Red, FontSize = 12,
+            Background = new System.Windows.Media.SolidColorBrush(WpfColor.FromArgb(180, 255, 255, 255))
+        };
+        Canvas.SetLeft(pixelText, imageX + 10);
+        Canvas.SetTop(pixelText, imageY - 20);
+        imageCanvas.RoiCanvas.Children.Add(pixelText);
+
+        if (_viewModel?.ShowWorldCoordinates == true)
+        {
+            var worldText = new TextBlock
+            {
+                Text = $"W:({worldPoint.X:F2},{worldPoint.Y:F2})",
+                Foreground = WpfBrushes.Blue, FontSize = 12,
+                Background = new System.Windows.Media.SolidColorBrush(WpfColor.FromArgb(180, 255, 255, 255))
+            };
+            Canvas.SetLeft(worldText, imageX + 10);
+            Canvas.SetTop(worldText, imageY + 5);
+            imageCanvas.RoiCanvas.Children.Add(worldText);
+        }
+    }
+}

XP.Camera/Calibration/Controls/ChessboardCalibrationControl.xaml

@@ -0,0 +1,208 @@
+<UserControl x:Class="XP.Camera.Calibration.Controls.ChessboardCalibrationControl"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+             xmlns:iconPacks="http://metro.mahapps.com/winfx/xaml/iconpacks"
+             xmlns:cal="clr-namespace:XP.Camera.Calibration"
+             xmlns:controls="clr-namespace:XP.Camera.Calibration.Controls"
+             mc:Ignorable="d"
+             d:DesignHeight="900"
+             d:DesignWidth="1600">
+    <UserControl.Resources>
+        <cal:CalibrationLocalizedStrings x:Key="LocalizedStrings" />
+        <SolidColorBrush x:Key="PrimaryColor" Color="#F5F5F5" />
+        <SolidColorBrush x:Key="AccentColor" Color="#0078D4" />
+        <SolidColorBrush x:Key="BackgroundColor" Color="#FAFAFA" />
+        <SolidColorBrush x:Key="SidebarColor" Color="#FFFFFF" />
+        <SolidColorBrush x:Key="BorderColor" Color="#E1E1E1" />
+        <SolidColorBrush x:Key="TextColor" Color="#333333" />
+        <SolidColorBrush x:Key="TextSecondaryColor" Color="#666666" />
+        <BooleanToVisibilityConverter x:Key="BooleanToVisibilityConverter" />
+
+        <Style x:Key="ToolbarButtonStyle" TargetType="Button">
+            <Setter Property="Width" Value="90" />
+            <Setter Property="Height" Value="70" />
+            <Setter Property="Margin" Value="0,0,8,0" />
+            <Setter Property="Background" Value="White" />
+            <Setter Property="Foreground" Value="{StaticResource TextColor}" />
+            <Setter Property="BorderBrush" Value="{StaticResource BorderColor}" />
+            <Setter Property="BorderThickness" Value="1" />
+            <Setter Property="Cursor" Value="Hand" />
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="Button">
+                        <Border Background="{TemplateBinding Background}"
+                                BorderBrush="{TemplateBinding BorderBrush}"
+                                BorderThickness="{TemplateBinding BorderThickness}"
+                                CornerRadius="3">
+                            <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
+                                <ContentPresenter Content="{TemplateBinding Tag}"
+                                                  HorizontalAlignment="Center"
+                                                  Margin="0,4,0,4" />
+                                <TextBlock Text="{TemplateBinding Content}"
+                                           FontSize="12" FontFamily="Segoe UI"
+                                           HorizontalAlignment="Center"
+                                           Foreground="{TemplateBinding Foreground}"
+                                           TextWrapping="Wrap"
+                                           TextAlignment="Center" />
+                            </StackPanel>
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsMouseOver" Value="True">
+                                <Setter Property="Background" Value="#E5F3FF" />
+                                <Setter Property="BorderBrush" Value="{StaticResource AccentColor}" />
+                            </Trigger>
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter Property="Background" Value="#CCE8FF" />
+                            </Trigger>
+                            <Trigger Property="IsEnabled" Value="False">
+                                <Setter Property="Opacity" Value="0.5" />
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+    </UserControl.Resources>
+
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="Auto" />
+            <RowDefinition Height="*" />
+        </Grid.RowDefinitions>
+
+        <Border Grid.Row="0" Background="{StaticResource PrimaryColor}" BorderBrush="{StaticResource BorderColor}"
+                BorderThickness="0,0,0,1" Padding="15,10">
+            <StackPanel Orientation="Horizontal">
+                <Button Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardAddImages}" Command="{Binding AddImagesCommand}"
+                        Style="{StaticResource ToolbarButtonStyle}">
+                    <Button.Tag><iconPacks:PackIconMaterial Kind="ImageMultiple" Width="24" Height="24" /></Button.Tag>
+                </Button>
+                <Button Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardClearImages}" Command="{Binding ClearImagesCommand}"
+                        Style="{StaticResource ToolbarButtonStyle}">
+                    <Button.Tag><iconPacks:PackIconMaterial Kind="DeleteSweep" Width="24" Height="24" /></Button.Tag>
+                </Button>
+                <Button Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardCalibrate}" Command="{Binding CalibrateCommand}"
+                        Style="{StaticResource ToolbarButtonStyle}">
+                    <Button.Tag><iconPacks:PackIconMaterial Kind="GridLarge" Width="24" Height="24" /></Button.Tag>
+                </Button>
+                <Button Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardSave}" Command="{Binding SaveCalibrationCommand}"
+                        Style="{StaticResource ToolbarButtonStyle}">
+                    <Button.Tag><iconPacks:PackIconMaterial Kind="ContentSave" Width="24" Height="24" /></Button.Tag>
+                </Button>
+                <Button Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardLoad}" Command="{Binding LoadCalibrationCommand}"
+                        Style="{StaticResource ToolbarButtonStyle}">
+                    <Button.Tag><iconPacks:PackIconMaterial Kind="FolderOpen" Width="24" Height="24" /></Button.Tag>
+                </Button>
+                <Button Content="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardUndistort}" Command="{Binding UndistortImageCommand}"
+                        Style="{StaticResource ToolbarButtonStyle}">
+                    <Button.Tag><iconPacks:PackIconMaterial Kind="ImageEdit" Width="24" Height="24" /></Button.Tag>
+                </Button>
+            </StackPanel>
+        </Border>
+
+        <Grid Grid.Row="1">
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="400" />
+                <ColumnDefinition Width="*" />
+            </Grid.ColumnDefinitions>
+
+            <Border Grid.Column="0" BorderBrush="{StaticResource BorderColor}" BorderThickness="0,0,1,0"
+                    Background="{StaticResource SidebarColor}">
+                <Grid Margin="12">
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="Auto" />
+                        <RowDefinition Height="Auto" />
+                        <RowDefinition Height="*" />
+                    </Grid.RowDefinitions>
+
+                    <StackPanel Grid.Row="0" Margin="0,0,0,16">
+                        <TextBlock Text="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardParameters}" FontFamily="Segoe UI" FontSize="15" FontWeight="SemiBold"
+                                   Margin="0,0,0,12" Foreground="{StaticResource TextColor}" />
+                        <Grid>
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition Width="Auto" />
+                                <ColumnDefinition Width="*" />
+                            </Grid.ColumnDefinitions>
+                            <Grid.RowDefinitions>
+                                <RowDefinition Height="Auto" />
+                                <RowDefinition Height="Auto" />
+                                <RowDefinition Height="Auto" />
+                            </Grid.RowDefinitions>
+                            <TextBlock Grid.Row="0" Grid.Column="0" Text="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardWidth}" FontFamily="Segoe UI" VerticalAlignment="Center" Margin="0,0,8,8" />
+                            <TextBox Grid.Row="0" Grid.Column="1" Text="{Binding ChessboardWidth}" FontFamily="Segoe UI" Height="28" Margin="0,0,0,8" />
+                            <TextBlock Grid.Row="1" Grid.Column="0" Text="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardHeight}" FontFamily="Segoe UI" VerticalAlignment="Center" Margin="0,0,8,8" />
+                            <TextBox Grid.Row="1" Grid.Column="1" Text="{Binding ChessboardHeight}" FontFamily="Segoe UI" Height="28" Margin="0,0,0,8" />
+                            <TextBlock Grid.Row="2" Grid.Column="0" Text="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardSquareSize}" FontFamily="Segoe UI" VerticalAlignment="Center" Margin="0,0,8,0" />
+                            <TextBox Grid.Row="2" Grid.Column="1" Text="{Binding SquareSize}" FontFamily="Segoe UI" Height="28" />
+                        </Grid>
+                    </StackPanel>
+
+                    <TextBlock Grid.Row="1" Text="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardImageList}" FontFamily="Segoe UI" FontSize="15" FontWeight="SemiBold"
+                               Margin="0,0,0,12" Foreground="{StaticResource TextColor}" />
+                    <ListBox Grid.Row="2" ItemsSource="{Binding ImageFileNames}" SelectedIndex="{Binding SelectedImageIndex}"
+                             FontFamily="Segoe UI" BorderBrush="{StaticResource BorderColor}" BorderThickness="1" />
+                </Grid>
+            </Border>
+
+            <Grid Grid.Column="1" Background="{StaticResource BackgroundColor}">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="*" />
+                    <ColumnDefinition Width="350" />
+                </Grid.ColumnDefinitions>
+
+                <Grid Grid.Column="0">
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="*" />
+                        <RowDefinition Height="Auto" />
+                    </Grid.RowDefinitions>
+                    <controls:ImageCanvasControl Grid.Row="0" x:Name="imageCanvas" Margin="12,12,8,8" />
+                    <Border Grid.Row="1" Background="White" BorderBrush="{StaticResource BorderColor}" BorderThickness="1"
+                            Margin="12,0,8,12" Padding="12" Height="70">
+                        <Grid>
+                            <Grid.RowDefinitions>
+                                <RowDefinition Height="Auto" />
+                                <RowDefinition Height="Auto" />
+                            </Grid.RowDefinitions>
+                            <TextBlock Grid.Row="0" Text="{Binding ProgressText}" FontSize="12" FontFamily="Segoe UI"
+                                       Margin="0,0,0,6" Foreground="{StaticResource TextColor}"
+                                       Visibility="{Binding IsCalibrating, Converter={StaticResource BooleanToVisibilityConverter}}" />
+                            <ProgressBar Grid.Row="1" Height="24" Value="{Binding ProgressValue}" Maximum="100"
+                                         Visibility="{Binding IsCalibrating, Converter={StaticResource BooleanToVisibilityConverter}}" />
+                            <TextBlock Grid.Row="0" Grid.RowSpan="2" Text="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardStatusReady}" FontFamily="Segoe UI" FontSize="12"
+                                       VerticalAlignment="Center" Foreground="{StaticResource TextSecondaryColor}">
+                                <TextBlock.Style>
+                                    <Style TargetType="TextBlock">
+                                        <Setter Property="Visibility" Value="Collapsed" />
+                                        <Style.Triggers>
+                                            <DataTrigger Binding="{Binding IsCalibrating}" Value="False">
+                                                <Setter Property="Visibility" Value="Visible" />
+                                            </DataTrigger>
+                                        </Style.Triggers>
+                                    </Style>
+                                </TextBlock.Style>
+                            </TextBlock>
+                        </Grid>
+                    </Border>
+                </Grid>
+
+                <Border Grid.Column="1" Background="White" BorderBrush="{StaticResource BorderColor}"
+                        BorderThickness="1,0,0,0" Padding="12" Margin="0,12,12,12">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="Auto" />
+                            <RowDefinition Height="*" />
+                        </Grid.RowDefinitions>
+                        <TextBlock Grid.Row="0" Text="{Binding Source={StaticResource LocalizedStrings}, Path=Resources.ChessboardStatusInfo}" FontFamily="Segoe UI" FontSize="15" FontWeight="SemiBold"
+                                   Margin="0,0,0,12" Foreground="{StaticResource TextColor}" />
+                        <ScrollViewer Grid.Row="1" VerticalScrollBarVisibility="Auto" HorizontalScrollBarVisibility="Disabled">
+                            <TextBlock TextWrapping="Wrap" FontSize="12" FontFamily="Segoe UI"
+                                       Text="{Binding StatusText}" Foreground="{StaticResource TextColor}" />
+                        </ScrollViewer>
+                    </Grid>
+                </Border>
+            </Grid>
+        </Grid>
+    </Grid>
+</UserControl>

XP.Camera/Calibration/Controls/ChessboardCalibrationControl.xaml.cs

@@ -0,0 +1,46 @@
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Input;
+using XP.Camera.Calibration.ViewModels;
+
+namespace XP.Camera.Calibration.Controls;
+
+public partial class ChessboardCalibrationControl : UserControl
+{
+    private ChessboardCalibrationViewModel? _viewModel;
+
+    public ChessboardCalibrationControl()
+    {
+        InitializeComponent();
+        Loaded += ChessboardCalibrationControl_Loaded;
+    }
+
+    private void ChessboardCalibrationControl_Loaded(object sender, RoutedEventArgs e)
+    {
+        if (DataContext is ChessboardCalibrationViewModel viewModel)
+        {
+            _viewModel = viewModel;
+
+            _viewModel.ImageLoadedRequested += (s, e) =>
+            {
+                imageCanvas.ReferenceImage = _viewModel.ImageSource;
+            };
+
+            _viewModel.ImageClearedRequested += (s, e) =>
+            {
+                imageCanvas.ReferenceImage = null;
+            };
+
+            imageCanvas.CanvasMouseWheel += ImageCanvas_MouseWheel;
+        }
+    }
+
+    private void ImageCanvas_MouseWheel(object? sender, MouseWheelEventArgs e)
+    {
+        if (_viewModel?.ImageSource == null) return;
+
+        double zoom = e.Delta > 0 ? 1.1 : 0.9;
+        imageCanvas.ZoomScale *= zoom;
+        imageCanvas.ZoomScale = Math.Max(0.1, Math.Min(imageCanvas.ZoomScale, 10));
+    }
+}

XP.Camera/Calibration/Controls/ImageCanvasControl.xaml

@@ -0,0 +1,33 @@
+<UserControl x:Class="XP.Camera.Calibration.Controls.ImageCanvasControl"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+             mc:Ignorable="d"
+             d:DesignHeight="600" d:DesignWidth="800" x:Name="imageCanvasControl">
+    <Border ClipToBounds="True" RenderOptions.BitmapScalingMode="NearestNeighbor">
+        <Viewbox>
+            <AdornerDecorator x:Name="adorner" MouseWheel="Adorner_MouseWheel">
+                <AdornerDecorator.RenderTransform>
+                    <TransformGroup>
+                        <TranslateTransform X="{Binding PanningOffsetX, ElementName=imageCanvasControl}"
+                                          Y="{Binding PanningOffsetY, ElementName=imageCanvasControl}" />
+                        <ScaleTransform ScaleX="{Binding ZoomScale, ElementName=imageCanvasControl}"
+                                      ScaleY="{Binding ZoomScale, ElementName=imageCanvasControl}"
+                                      CenterX="{Binding ZoomCenter.X, ElementName=imageCanvasControl}"
+                                      CenterY="{Binding ZoomCenter.Y, ElementName=imageCanvasControl}" />
+                    </TransformGroup>
+                </AdornerDecorator.RenderTransform>
+                <Grid PreviewMouseMove="Canvas_MouseMove"
+                      PreviewMouseLeftButtonUp="Canvas_MouseLeftButtonUp"
+                      PreviewMouseRightButtonUp="Canvas_MouseRightButtonUp"
+                      MouseEnter="Canvas_MouseEnter"
+                      PreviewMouseLeftButtonDown="Canvas_MouseLeftButtonDown"
+                      PreviewMouseRightButtonDown="Canvas_MouseRightButtonDown">
+                    <ContentPresenter Content="{Binding RoiCanvas, ElementName=imageCanvasControl}"
+                                    SizeChanged="ContentPresenter_SizeChanged" />
+                </Grid>
+            </AdornerDecorator>
+        </Viewbox>
+    </Border>
+</UserControl>

XP.Camera/Calibration/Controls/ImageCanvasControl.xaml.cs

@@ -0,0 +1,229 @@
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+
+namespace XP.Camera.Calibration.Controls;
+
+/// <summary>
+/// 图像画布控件 - 提供图像显示、缩放、平移功能
+/// </summary>
+public partial class ImageCanvasControl : UserControl
+{
+    private Point mouseDownPoint = new Point();
+
+    #region Dependency Properties
+
+    public static readonly DependencyProperty ZoomScaleProperty =
+        DependencyProperty.Register("ZoomScale", typeof(double), typeof(ImageCanvasControl), new PropertyMetadata(1.0));
+
+    public static readonly DependencyProperty ZoomCenterProperty =
+        DependencyProperty.Register("ZoomCenter", typeof(Point), typeof(ImageCanvasControl), new PropertyMetadata(new Point()));
+
+    public static readonly DependencyProperty PanningOffsetXProperty =
+        DependencyProperty.Register("PanningOffsetX", typeof(double), typeof(ImageCanvasControl), new PropertyMetadata(0.0));
+
+    public static readonly DependencyProperty PanningOffsetYProperty =
+        DependencyProperty.Register("PanningOffsetY", typeof(double), typeof(ImageCanvasControl), new PropertyMetadata(0.0));
+
+    public static readonly DependencyProperty ReferenceImageProperty =
+        DependencyProperty.Register("ReferenceImage", typeof(BitmapSource), typeof(ImageCanvasControl),
+            new UIPropertyMetadata(null, ReferenceImageChanged));
+
+    public static readonly DependencyProperty ImageScaleFactorProperty =
+        DependencyProperty.Register("ImageScaleFactor", typeof(double), typeof(ImageCanvasControl), new PropertyMetadata(1.0));
+
+    public static readonly DependencyProperty MaxImageWidthProperty =
+        DependencyProperty.Register("MaxImageWidth", typeof(int), typeof(ImageCanvasControl), new PropertyMetadata(0));
+
+    public static readonly DependencyProperty MaxImageHeightProperty =
+        DependencyProperty.Register("MaxImageHeight", typeof(int), typeof(ImageCanvasControl), new PropertyMetadata(0));
+
+    public static readonly DependencyProperty EnablePanningProperty =
+        DependencyProperty.Register("EnablePanning", typeof(bool), typeof(ImageCanvasControl), new PropertyMetadata(true));
+
+    #endregion
+
+    #region Properties
+
+    public double ZoomScale
+    {
+        get => (double)GetValue(ZoomScaleProperty);
+        set => SetValue(ZoomScaleProperty, value);
+    }
+
+    public Point ZoomCenter
+    {
+        get => (Point)GetValue(ZoomCenterProperty);
+        set => SetValue(ZoomCenterProperty, value);
+    }
+
+    public double PanningOffsetX
+    {
+        get => (double)GetValue(PanningOffsetXProperty);
+        set => SetValue(PanningOffsetXProperty, value);
+    }
+
+    public double PanningOffsetY
+    {
+        get => (double)GetValue(PanningOffsetYProperty);
+        set => SetValue(PanningOffsetYProperty, value);
+    }
+
+    public BitmapSource? ReferenceImage
+    {
+        get => (BitmapSource?)GetValue(ReferenceImageProperty);
+        set => SetValue(ReferenceImageProperty, value);
+    }
+
+    public double ImageScaleFactor
+    {
+        get => (double)GetValue(ImageScaleFactorProperty);
+        set => SetValue(ImageScaleFactorProperty, value);
+    }
+
+    public int MaxImageWidth
+    {
+        get => (int)GetValue(MaxImageWidthProperty);
+        set => SetValue(MaxImageWidthProperty, value);
+    }
+
+    public int MaxImageHeight
+    {
+        get => (int)GetValue(MaxImageHeightProperty);
+        set => SetValue(MaxImageHeightProperty, value);
+    }
+
+    public bool EnablePanning
+    {
+        get => (bool)GetValue(EnablePanningProperty);
+        set => SetValue(EnablePanningProperty, value);
+    }
+
+    private Canvas roiCanvas = new Canvas();
+    public Canvas RoiCanvas
+    {
+        get => roiCanvas;
+        set => roiCanvas = value;
+    }
+
+    #endregion
+
+    #region Events
+
+    public event EventHandler<MouseButtonEventArgs>? CanvasRightMouseUp;
+    public event EventHandler<MouseButtonEventArgs>? CanvasRightMouseDown;
+    public event EventHandler<MouseButtonEventArgs>? CanvasLeftMouseDown;
+    public event EventHandler<MouseEventArgs>? CanvasMouseMove;
+    public event EventHandler<MouseWheelEventArgs>? CanvasMouseWheel;
+
+    #endregion
+
+    public ImageCanvasControl()
+    {
+        InitializeComponent();
+    }
+
+    #region Private Methods
+
+    private static void ReferenceImageChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
+    {
+        (d as ImageCanvasControl)?.OnReferenceImageChanged(e.NewValue as BitmapSource);
+    }
+
+    private void OnReferenceImageChanged(BitmapSource? bitmapSource)
+    {
+        if (bitmapSource != null)
+        {
+            ImageBrush brush = new ImageBrush { ImageSource = bitmapSource, Stretch = Stretch.Uniform };
+            RoiCanvas.Background = brush;
+            RoiCanvas.Height = bitmapSource.Height;
+            RoiCanvas.Width = bitmapSource.Width;
+        }
+        else
+        {
+            RoiCanvas.Height = MaxImageHeight > 0 ? MaxImageHeight : 600;
+            RoiCanvas.Width = MaxImageWidth > 0 ? MaxImageWidth : 800;
+            RoiCanvas.Background = Brushes.LightGray;
+        }
+    }
+
+    private double CalculateScaleFactor()
+    {
+        if (ActualWidth <= 0) return 1;
+        double scaleFactor = Math.Max(RoiCanvas.Width / ActualWidth, RoiCanvas.Height / ActualHeight);
+        if (scaleFactor < 0)
+            scaleFactor = Math.Min(RoiCanvas.Width / ActualWidth, RoiCanvas.Height / ActualHeight);
+        return scaleFactor;
+    }
+
+    #endregion
+
+    #region Event Handlers
+
+    private void Canvas_MouseEnter(object sender, MouseEventArgs e)
+    {
+        if (e.LeftButton == MouseButtonState.Pressed)
+            mouseDownPoint = e.GetPosition(RoiCanvas);
+    }
+
+    private void Canvas_MouseMove(object sender, MouseEventArgs e)
+    {
+        CanvasMouseMove?.Invoke(sender, e);
+        if (EnablePanning && e.LeftButton == MouseButtonState.Pressed)
+        {
+            Point mousePoint = e.GetPosition(RoiCanvas);
+            double mouseMoveLength = Point.Subtract(mousePoint, mouseDownPoint).Length;
+            if (mouseMoveLength > (10 * CalculateScaleFactor()) / ZoomScale)
+            {
+                PanningOffsetX += mousePoint.X - mouseDownPoint.X;
+                PanningOffsetY += mousePoint.Y - mouseDownPoint.Y;
+            }
+        }
+    }
+
+    private void Canvas_MouseLeftButtonUp(object sender, MouseButtonEventArgs e) { }
+
+    private void Canvas_MouseRightButtonUp(object sender, MouseButtonEventArgs e)
+    {
+        CanvasRightMouseUp?.Invoke(sender, e);
+    }
+
+    private void Canvas_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+    {
+        mouseDownPoint = e.GetPosition(RoiCanvas);
+        CanvasLeftMouseDown?.Invoke(sender, e);
+        if (EnablePanning && e.ClickCount == 2)
+        {
+            ResetView();
+            e.Handled = true;
+        }
+    }
+
+    private void Canvas_MouseRightButtonDown(object sender, MouseButtonEventArgs e)
+    {
+        CanvasRightMouseDown?.Invoke(sender, e);
+        e.Handled = true;
+    }
+
+    private void Adorner_MouseWheel(object sender, MouseWheelEventArgs e)
+    {
+        CanvasMouseWheel?.Invoke(sender, e);
+    }
+
+    private void ContentPresenter_SizeChanged(object sender, SizeChangedEventArgs e)
+    {
+        ImageScaleFactor = CalculateScaleFactor();
+    }
+
+    private void ResetView()
+    {
+        ZoomScale = 1.0;
+        PanningOffsetX = 0.0;
+        PanningOffsetY = 0.0;
+        ZoomCenter = new Point(0, 0);
+    }
+
+    #endregion
+}

XP.Camera/Calibration/DefaultCalibrationDialogService.cs

@@ -0,0 +1,50 @@
+using Microsoft.Win32;
+using System.Windows;
+using XP.Common.GeneralForm.Views;
+
+namespace XP.Camera.Calibration;
+
+/// <summary>
+/// 默认对话框服务实现，使用 HexMessageBox 自定义消息框。
+/// 外部项目可直接使用，无需额外依赖。
+/// </summary>
+public class DefaultCalibrationDialogService : ICalibrationDialogService
+{
+    public void ShowMessage(string message, string title)
+    {
+        HexMessageBox.Show(message, MessageBoxButton.OK, MessageBoxImage.Information);
+    }
+
+    public void ShowError(string message, string title)
+    {
+        HexMessageBox.Show(message, MessageBoxButton.OK, MessageBoxImage.Error);
+    }
+
+    public void ShowInfo(string message, string title)
+    {
+        HexMessageBox.Show(message, MessageBoxButton.OK, MessageBoxImage.Information);
+    }
+
+    public bool ShowConfirm(string message, string title)
+    {
+        return HexMessageBox.Show(message, MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes;
+    }
+
+    public string? ShowOpenFileDialog(string filter)
+    {
+        var dialog = new OpenFileDialog { Filter = filter };
+        return dialog.ShowDialog() == true ? dialog.FileName : null;
+    }
+
+    public string[]? ShowOpenMultipleFilesDialog(string filter)
+    {
+        var dialog = new OpenFileDialog { Filter = filter, Multiselect = true };
+        return dialog.ShowDialog() == true ? dialog.FileNames : null;
+    }
+
+    public string? ShowSaveFileDialog(string filter, string? defaultFileName = null)
+    {
+        var dialog = new SaveFileDialog { Filter = filter, FileName = defaultFileName ?? string.Empty };
+        return dialog.ShowDialog() == true ? dialog.FileName : null;
+    }
+}

XP.Camera/Calibration/IDialogService.cs

@@ -0,0 +1,15 @@
+namespace XP.Camera.Calibration;
+
+/// <summary>
+/// 对话框服务接口，用于标定模块的文件选择和消息提示。
+/// </summary>
+public interface ICalibrationDialogService
+{
+    void ShowMessage(string message, string title);
+    void ShowError(string message, string title);
+    void ShowInfo(string message, string title);
+    bool ShowConfirm(string message, string title);
+    string? ShowOpenFileDialog(string filter);
+    string[]? ShowOpenMultipleFilesDialog(string filter);
+    string? ShowSaveFileDialog(string filter, string? defaultFileName = null);
+}

XP.Camera/Calibration/Resources/CalibrationResources.Designer.cs

@@ -0,0 +1,104 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     此代码由工具生成。
+//     如果重新生成代码，将丢失对此文件所做的更改。
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace XP.Camera.Calibration.Resources {
+    using System;
+
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    public class CalibrationResources {
+
+        private static global::System.Resources.ResourceManager resourceMan;
+        private static global::System.Globalization.CultureInfo resourceCulture;
+
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal CalibrationResources() { }
+
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        public static global::System.Resources.ResourceManager ResourceManager {
+            get {
+                if (object.ReferenceEquals(resourceMan, null)) {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("XP.Camera.Calibration.Resources.CalibrationResources", typeof(CalibrationResources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        public static global::System.Globalization.CultureInfo Culture {
+            get { return resourceCulture; }
+            set { resourceCulture = value; }
+        }
+
+        // 九点标定
+        public static string CalibrationToolTitle => ResourceManager.GetString("CalibrationToolTitle", resourceCulture) ?? "";
+        public static string CalibrationLoadImage => ResourceManager.GetString("CalibrationLoadImage", resourceCulture) ?? "";
+        public static string CalibrationLoadCsv => ResourceManager.GetString("CalibrationLoadCsv", resourceCulture) ?? "";
+        public static string CalibrationExecute => ResourceManager.GetString("CalibrationExecute", resourceCulture) ?? "";
+        public static string CalibrationSave => ResourceManager.GetString("CalibrationSave", resourceCulture) ?? "";
+        public static string CalibrationLoad => ResourceManager.GetString("CalibrationLoad", resourceCulture) ?? "";
+        public static string CalibrationShowWorld => ResourceManager.GetString("CalibrationShowWorld", resourceCulture) ?? "";
+        public static string CalibrationPointList => ResourceManager.GetString("CalibrationPointList", resourceCulture) ?? "";
+        public static string CalibrationPixelX => ResourceManager.GetString("CalibrationPixelX", resourceCulture) ?? "";
+        public static string CalibrationPixelY => ResourceManager.GetString("CalibrationPixelY", resourceCulture) ?? "";
+        public static string CalibrationWorldX => ResourceManager.GetString("CalibrationWorldX", resourceCulture) ?? "";
+        public static string CalibrationWorldY => ResourceManager.GetString("CalibrationWorldY", resourceCulture) ?? "";
+        public static string CalibrationStatusReady => ResourceManager.GetString("CalibrationStatusReady", resourceCulture) ?? "";
+        public static string CalibrationStatusImageLoaded => ResourceManager.GetString("CalibrationStatusImageLoaded", resourceCulture) ?? "";
+        public static string CalibrationStatusCsvLoaded => ResourceManager.GetString("CalibrationStatusCsvLoaded", resourceCulture) ?? "";
+        public static string CalibrationStatusSuccess => ResourceManager.GetString("CalibrationStatusSuccess", resourceCulture) ?? "";
+        public static string CalibrationStatusFailed => ResourceManager.GetString("CalibrationStatusFailed", resourceCulture) ?? "";
+        public static string CalibrationStatusSaved => ResourceManager.GetString("CalibrationStatusSaved", resourceCulture) ?? "";
+        public static string CalibrationStatusLoaded => ResourceManager.GetString("CalibrationStatusLoaded", resourceCulture) ?? "";
+        public static string CalibrationCoordinates => ResourceManager.GetString("CalibrationCoordinates", resourceCulture) ?? "";
+        public static string CalibrationErrorMinPoints => ResourceManager.GetString("CalibrationErrorMinPoints", resourceCulture) ?? "";
+        public static string CalibrationSuccessTitle => ResourceManager.GetString("CalibrationSuccessTitle", resourceCulture) ?? "";
+        public static string CalibrationSuccessMessage => ResourceManager.GetString("CalibrationSuccessMessage", resourceCulture) ?? "";
+        public static string CalibrationSaveSuccess => ResourceManager.GetString("CalibrationSaveSuccess", resourceCulture) ?? "";
+        public static string CalibrationLoadSuccess => ResourceManager.GetString("CalibrationLoadSuccess", resourceCulture) ?? "";
+        public static string CalibrationLoadFailed => ResourceManager.GetString("CalibrationLoadFailed", resourceCulture) ?? "";
+
+        // 棋盘格标定
+        public static string ChessboardToolTitle => ResourceManager.GetString("ChessboardToolTitle", resourceCulture) ?? "";
+        public static string ChessboardAddImages => ResourceManager.GetString("ChessboardAddImages", resourceCulture) ?? "";
+        public static string ChessboardClearImages => ResourceManager.GetString("ChessboardClearImages", resourceCulture) ?? "";
+        public static string ChessboardCalibrate => ResourceManager.GetString("ChessboardCalibrate", resourceCulture) ?? "";
+        public static string ChessboardSave => ResourceManager.GetString("ChessboardSave", resourceCulture) ?? "";
+        public static string ChessboardLoad => ResourceManager.GetString("ChessboardLoad", resourceCulture) ?? "";
+        public static string ChessboardUndistort => ResourceManager.GetString("ChessboardUndistort", resourceCulture) ?? "";
+        public static string ChessboardParameters => ResourceManager.GetString("ChessboardParameters", resourceCulture) ?? "";
+        public static string ChessboardWidth => ResourceManager.GetString("ChessboardWidth", resourceCulture) ?? "";
+        public static string ChessboardHeight => ResourceManager.GetString("ChessboardHeight", resourceCulture) ?? "";
+        public static string ChessboardSquareSize => ResourceManager.GetString("ChessboardSquareSize", resourceCulture) ?? "";
+        public static string ChessboardImageList => ResourceManager.GetString("ChessboardImageList", resourceCulture) ?? "";
+        public static string ChessboardStatusInfo => ResourceManager.GetString("ChessboardStatusInfo", resourceCulture) ?? "";
+        public static string ChessboardStatusReady => ResourceManager.GetString("ChessboardStatusReady", resourceCulture) ?? "";
+        public static string ChessboardStatusAdded => ResourceManager.GetString("ChessboardStatusAdded", resourceCulture) ?? "";
+        public static string ChessboardStatusCleared => ResourceManager.GetString("ChessboardStatusCleared", resourceCulture) ?? "";
+        public static string ChessboardStatusCalibrating => ResourceManager.GetString("ChessboardStatusCalibrating", resourceCulture) ?? "";
+        public static string ChessboardStatusSuccess => ResourceManager.GetString("ChessboardStatusSuccess", resourceCulture) ?? "";
+        public static string ChessboardStatusFailed => ResourceManager.GetString("ChessboardStatusFailed", resourceCulture) ?? "";
+        public static string ChessboardStatusSaved => ResourceManager.GetString("ChessboardStatusSaved", resourceCulture) ?? "";
+        public static string ChessboardStatusLoaded => ResourceManager.GetString("ChessboardStatusLoaded", resourceCulture) ?? "";
+        public static string ChessboardStatusUndistorted => ResourceManager.GetString("ChessboardStatusUndistorted", resourceCulture) ?? "";
+        public static string ChessboardStatusImageError => ResourceManager.GetString("ChessboardStatusImageError", resourceCulture) ?? "";
+        public static string ChessboardProgressPreparing => ResourceManager.GetString("ChessboardProgressPreparing", resourceCulture) ?? "";
+        public static string ChessboardProgressDetecting => ResourceManager.GetString("ChessboardProgressDetecting", resourceCulture) ?? "";
+        public static string ChessboardProgressCalibrating => ResourceManager.GetString("ChessboardProgressCalibrating", resourceCulture) ?? "";
+        public static string ChessboardProgressCalculating => ResourceManager.GetString("ChessboardProgressCalculating", resourceCulture) ?? "";
+        public static string ChessboardProgressComplete => ResourceManager.GetString("ChessboardProgressComplete", resourceCulture) ?? "";
+        public static string ChessboardProgressFailed => ResourceManager.GetString("ChessboardProgressFailed", resourceCulture) ?? "";
+        public static string ChessboardErrorMinImages => ResourceManager.GetString("ChessboardErrorMinImages", resourceCulture) ?? "";
+        public static string ChessboardErrorInsufficientValid => ResourceManager.GetString("ChessboardErrorInsufficientValid", resourceCulture) ?? "";
+        public static string ChessboardSaveSuccess => ResourceManager.GetString("ChessboardSaveSuccess", resourceCulture) ?? "";
+        public static string ChessboardLoadSuccess => ResourceManager.GetString("ChessboardLoadSuccess", resourceCulture) ?? "";
+        public static string ChessboardCalibrationComplete => ResourceManager.GetString("ChessboardCalibrationComplete", resourceCulture) ?? "";
+        public static string ChessboardImageError => ResourceManager.GetString("ChessboardImageError", resourceCulture) ?? "";
+    }
+}

XP.Camera/Calibration/Resources/CalibrationResources.en-US.resx

@@ -0,0 +1,259 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <!-- Nine-Point Calibration -->
+  <data name="CalibrationToolTitle" xml:space="preserve">
+    <value>Nine-Point Calibration Tool</value>
+  </data>
+  <data name="CalibrationLoadImage" xml:space="preserve">
+    <value>Load Image</value>
+  </data>
+  <data name="CalibrationLoadCsv" xml:space="preserve">
+    <value>Load from CSV</value>
+  </data>
+  <data name="CalibrationExecute" xml:space="preserve">
+    <value>Calibrate</value>
+  </data>
+  <data name="CalibrationSave" xml:space="preserve">
+    <value>Save Calibration</value>
+  </data>
+  <data name="CalibrationLoad" xml:space="preserve">
+    <value>Load Calibration</value>
+  </data>
+  <data name="CalibrationShowWorld" xml:space="preserve">
+    <value>Show World Coordinates</value>
+  </data>
+  <data name="CalibrationPointList" xml:space="preserve">
+    <value>Calibration Points</value>
+  </data>
+  <data name="CalibrationPixelX" xml:space="preserve">
+    <value>Pixel X</value>
+  </data>
+  <data name="CalibrationPixelY" xml:space="preserve">
+    <value>Pixel Y</value>
+  </data>
+  <data name="CalibrationWorldX" xml:space="preserve">
+    <value>World X</value>
+  </data>
+  <data name="CalibrationWorldY" xml:space="preserve">
+    <value>World Y</value>
+  </data>
+  <data name="CalibrationStatusReady" xml:space="preserve">
+    <value>Ready</value>
+  </data>
+  <data name="CalibrationStatusImageLoaded" xml:space="preserve">
+    <value>Status: Image loaded
+{0}
+Right-click on image to view coordinate conversion</value>
+  </data>
+  <data name="CalibrationStatusCsvLoaded" xml:space="preserve">
+    <value>Status: Loaded {0} calibration points from CSV
+{1}</value>
+  </data>
+  <data name="CalibrationStatusSuccess" xml:space="preserve">
+    <value>Status: Calibration successful! Using {0} points</value>
+  </data>
+  <data name="CalibrationStatusFailed" xml:space="preserve">
+    <value>Status: Calibration failed</value>
+  </data>
+  <data name="CalibrationStatusSaved" xml:space="preserve">
+    <value>Status: Calibration saved to
+{0}</value>
+  </data>
+  <data name="CalibrationStatusLoaded" xml:space="preserve">
+    <value>Status: Calibration loaded from
+{0}</value>
+  </data>
+  <data name="CalibrationCoordinates" xml:space="preserve">
+    <value>Pixel coordinates: ({0:F2}, {1:F2})
+World coordinates: ({2:F2}, {3:F2})</value>
+  </data>
+  <data name="CalibrationErrorMinPoints" xml:space="preserve">
+    <value>At least 4 calibration points required!</value>
+  </data>
+  <data name="CalibrationSuccessTitle" xml:space="preserve">
+    <value>Success</value>
+  </data>
+  <data name="CalibrationSuccessMessage" xml:space="preserve">
+    <value>Calibration completed!</value>
+  </data>
+  <data name="CalibrationSaveSuccess" xml:space="preserve">
+    <value>Save successful!</value>
+  </data>
+  <data name="CalibrationLoadSuccess" xml:space="preserve">
+    <value>Load successful!</value>
+  </data>
+  <data name="CalibrationLoadFailed" xml:space="preserve">
+    <value>Load failed!</value>
+  </data>
+  <!-- Chessboard Calibration -->
+  <data name="ChessboardToolTitle" xml:space="preserve">
+    <value>Chessboard Calibration Tool</value>
+  </data>
+  <data name="ChessboardAddImages" xml:space="preserve">
+    <value>Add Images</value>
+  </data>
+  <data name="ChessboardClearImages" xml:space="preserve">
+    <value>Clear List</value>
+  </data>
+  <data name="ChessboardCalibrate" xml:space="preserve">
+    <value>Calibrate</value>
+  </data>
+  <data name="ChessboardSave" xml:space="preserve">
+    <value>Save Calibration</value>
+  </data>
+  <data name="ChessboardLoad" xml:space="preserve">
+    <value>Load Calibration</value>
+  </data>
+  <data name="ChessboardUndistort" xml:space="preserve">
+    <value>Undistort Image</value>
+  </data>
+  <data name="ChessboardParameters" xml:space="preserve">
+    <value>Chessboard Parameters</value>
+  </data>
+  <data name="ChessboardWidth" xml:space="preserve">
+    <value>Inner Corners Width:</value>
+  </data>
+  <data name="ChessboardHeight" xml:space="preserve">
+    <value>Inner Corners Height:</value>
+  </data>
+  <data name="ChessboardSquareSize" xml:space="preserve">
+    <value>Square Size (mm):</value>
+  </data>
+  <data name="ChessboardImageList" xml:space="preserve">
+    <value>Calibration Images</value>
+  </data>
+  <data name="ChessboardStatusInfo" xml:space="preserve">
+    <value>Status Information</value>
+  </data>
+  <data name="ChessboardStatusReady" xml:space="preserve">
+    <value>Ready</value>
+  </data>
+  <data name="ChessboardStatusAdded" xml:space="preserve">
+    <value>Added {0} images</value>
+  </data>
+  <data name="ChessboardStatusCleared" xml:space="preserve">
+    <value>Image list cleared</value>
+  </data>
+  <data name="ChessboardStatusCalibrating" xml:space="preserve">
+    <value>Calibrating, please wait...</value>
+  </data>
+  <data name="ChessboardStatusSuccess" xml:space="preserve">
+    <value>Calibration successful!
+Overall reprojection error: {0:F4} pixels
+
+{1}</value>
+  </data>
+  <data name="ChessboardStatusFailed" xml:space="preserve">
+    <value>Calibration failed: {0}</value>
+  </data>
+  <data name="ChessboardStatusSaved" xml:space="preserve">
+    <value>Calibration saved:
+{0}</value>
+  </data>
+  <data name="ChessboardStatusLoaded" xml:space="preserve">
+    <value>Calibration loaded:
+{0}</value>
+  </data>
+  <data name="ChessboardStatusUndistorted" xml:space="preserve">
+    <value>Image undistorted:
+{0}</value>
+  </data>
+  <data name="ChessboardStatusImageError" xml:space="preserve">
+    <value>Image {0}
+Reprojection error: {1:F4} pixels</value>
+  </data>
+  <data name="ChessboardProgressPreparing" xml:space="preserve">
+    <value>Preparing calibration...</value>
+  </data>
+  <data name="ChessboardProgressDetecting" xml:space="preserve">
+    <value>Detecting corners ({0}/{1})</value>
+  </data>
+  <data name="ChessboardProgressCalibrating" xml:space="preserve">
+    <value>Performing camera calibration...</value>
+  </data>
+  <data name="ChessboardProgressCalculating" xml:space="preserve">
+    <value>Calculating reprojection errors ({0}/{1})</value>
+  </data>
+  <data name="ChessboardProgressComplete" xml:space="preserve">
+    <value>Calibration complete</value>
+  </data>
+  <data name="ChessboardProgressFailed" xml:space="preserve">
+    <value>Calibration failed</value>
+  </data>
+  <data name="ChessboardErrorMinImages" xml:space="preserve">
+    <value>At least 3 images required!</value>
+  </data>
+  <data name="ChessboardErrorInsufficientValid" xml:space="preserve">
+    <value>Insufficient valid images, need at least 3, current {0}</value>
+  </data>
+  <data name="ChessboardSaveSuccess" xml:space="preserve">
+    <value>Save successful!</value>
+  </data>
+  <data name="ChessboardLoadSuccess" xml:space="preserve">
+    <value>Load successful!</value>
+  </data>
+  <data name="ChessboardCalibrationComplete" xml:space="preserve">
+    <value>Calibration completed!</value>
+  </data>
+  <data name="ChessboardImageError" xml:space="preserve">
+    <value>Image{0}: {1:F4} pixels</value>
+  </data>
+</root>

XP.Camera/Calibration/Resources/CalibrationResources.resx

@@ -0,0 +1,259 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <!-- 九点标定 -->
+  <data name="CalibrationToolTitle" xml:space="preserve">
+    <value>九点标定工具</value>
+  </data>
+  <data name="CalibrationLoadImage" xml:space="preserve">
+    <value>加载图像</value>
+  </data>
+  <data name="CalibrationLoadCsv" xml:space="preserve">
+    <value>从CSV加载</value>
+  </data>
+  <data name="CalibrationExecute" xml:space="preserve">
+    <value>执行标定</value>
+  </data>
+  <data name="CalibrationSave" xml:space="preserve">
+    <value>保存标定</value>
+  </data>
+  <data name="CalibrationLoad" xml:space="preserve">
+    <value>加载标定</value>
+  </data>
+  <data name="CalibrationShowWorld" xml:space="preserve">
+    <value>显示世界坐标</value>
+  </data>
+  <data name="CalibrationPointList" xml:space="preserve">
+    <value>标定点列表</value>
+  </data>
+  <data name="CalibrationPixelX" xml:space="preserve">
+    <value>像素X</value>
+  </data>
+  <data name="CalibrationPixelY" xml:space="preserve">
+    <value>像素Y</value>
+  </data>
+  <data name="CalibrationWorldX" xml:space="preserve">
+    <value>世界X</value>
+  </data>
+  <data name="CalibrationWorldY" xml:space="preserve">
+    <value>世界Y</value>
+  </data>
+  <data name="CalibrationStatusReady" xml:space="preserve">
+    <value>就绪</value>
+  </data>
+  <data name="CalibrationStatusImageLoaded" xml:space="preserve">
+    <value>状态：图像已加载
+{0}
+右键点击图像查看坐标转换</value>
+  </data>
+  <data name="CalibrationStatusCsvLoaded" xml:space="preserve">
+    <value>状态：已从CSV加载 {0} 个标定点
+{1}</value>
+  </data>
+  <data name="CalibrationStatusSuccess" xml:space="preserve">
+    <value>状态：标定成功！使用 {0} 个点</value>
+  </data>
+  <data name="CalibrationStatusFailed" xml:space="preserve">
+    <value>状态：标定失败</value>
+  </data>
+  <data name="CalibrationStatusSaved" xml:space="preserve">
+    <value>状态：标定文件已保存到
+{0}</value>
+  </data>
+  <data name="CalibrationStatusLoaded" xml:space="preserve">
+    <value>状态：标定文件已加载
+{0}</value>
+  </data>
+  <data name="CalibrationCoordinates" xml:space="preserve">
+    <value>像素坐标: ({0:F2}, {1:F2})
+世界坐标: ({2:F2}, {3:F2})</value>
+  </data>
+  <data name="CalibrationErrorMinPoints" xml:space="preserve">
+    <value>至少需要4个标定点！</value>
+  </data>
+  <data name="CalibrationSuccessTitle" xml:space="preserve">
+    <value>成功</value>
+  </data>
+  <data name="CalibrationSuccessMessage" xml:space="preserve">
+    <value>标定完成！</value>
+  </data>
+  <data name="CalibrationSaveSuccess" xml:space="preserve">
+    <value>保存成功！</value>
+  </data>
+  <data name="CalibrationLoadSuccess" xml:space="preserve">
+    <value>加载成功！</value>
+  </data>
+  <data name="CalibrationLoadFailed" xml:space="preserve">
+    <value>加载失败！</value>
+  </data>
+  <!-- 棋盘格标定 -->
+  <data name="ChessboardToolTitle" xml:space="preserve">
+    <value>棋盘格畸变校正工具</value>
+  </data>
+  <data name="ChessboardAddImages" xml:space="preserve">
+    <value>添加图像</value>
+  </data>
+  <data name="ChessboardClearImages" xml:space="preserve">
+    <value>清空列表</value>
+  </data>
+  <data name="ChessboardCalibrate" xml:space="preserve">
+    <value>执行标定</value>
+  </data>
+  <data name="ChessboardSave" xml:space="preserve">
+    <value>保存标定</value>
+  </data>
+  <data name="ChessboardLoad" xml:space="preserve">
+    <value>加载标定</value>
+  </data>
+  <data name="ChessboardUndistort" xml:space="preserve">
+    <value>校正图像</value>
+  </data>
+  <data name="ChessboardParameters" xml:space="preserve">
+    <value>棋盘格参数</value>
+  </data>
+  <data name="ChessboardWidth" xml:space="preserve">
+    <value>内角点宽度:</value>
+  </data>
+  <data name="ChessboardHeight" xml:space="preserve">
+    <value>内角点高度:</value>
+  </data>
+  <data name="ChessboardSquareSize" xml:space="preserve">
+    <value>方格尺寸(mm):</value>
+  </data>
+  <data name="ChessboardImageList" xml:space="preserve">
+    <value>标定图像列表</value>
+  </data>
+  <data name="ChessboardStatusInfo" xml:space="preserve">
+    <value>状态信息</value>
+  </data>
+  <data name="ChessboardStatusReady" xml:space="preserve">
+    <value>就绪</value>
+  </data>
+  <data name="ChessboardStatusAdded" xml:space="preserve">
+    <value>已添加 {0} 张图像</value>
+  </data>
+  <data name="ChessboardStatusCleared" xml:space="preserve">
+    <value>已清空图像列表</value>
+  </data>
+  <data name="ChessboardStatusCalibrating" xml:space="preserve">
+    <value>正在标定，请稍候...</value>
+  </data>
+  <data name="ChessboardStatusSuccess" xml:space="preserve">
+    <value>标定成功!
+总体重投影误差: {0:F4} 像素
+
+{1}</value>
+  </data>
+  <data name="ChessboardStatusFailed" xml:space="preserve">
+    <value>标定失败: {0}</value>
+  </data>
+  <data name="ChessboardStatusSaved" xml:space="preserve">
+    <value>标定已保存:
+{0}</value>
+  </data>
+  <data name="ChessboardStatusLoaded" xml:space="preserve">
+    <value>标定已加载:
+{0}</value>
+  </data>
+  <data name="ChessboardStatusUndistorted" xml:space="preserve">
+    <value>已校正图像:
+{0}</value>
+  </data>
+  <data name="ChessboardStatusImageError" xml:space="preserve">
+    <value>图像 {0}
+重投影误差: {1:F4} 像素</value>
+  </data>
+  <data name="ChessboardProgressPreparing" xml:space="preserve">
+    <value>准备标定...</value>
+  </data>
+  <data name="ChessboardProgressDetecting" xml:space="preserve">
+    <value>检测角点 ({0}/{1})</value>
+  </data>
+  <data name="ChessboardProgressCalibrating" xml:space="preserve">
+    <value>执行相机标定...</value>
+  </data>
+  <data name="ChessboardProgressCalculating" xml:space="preserve">
+    <value>计算重投影误差 ({0}/{1})</value>
+  </data>
+  <data name="ChessboardProgressComplete" xml:space="preserve">
+    <value>标定完成</value>
+  </data>
+  <data name="ChessboardProgressFailed" xml:space="preserve">
+    <value>标定失败</value>
+  </data>
+  <data name="ChessboardErrorMinImages" xml:space="preserve">
+    <value>至少需要3张图像!</value>
+  </data>
+  <data name="ChessboardErrorInsufficientValid" xml:space="preserve">
+    <value>有效图像不足，需要至少3张，当前{0}张</value>
+  </data>
+  <data name="ChessboardSaveSuccess" xml:space="preserve">
+    <value>保存成功!</value>
+  </data>
+  <data name="ChessboardLoadSuccess" xml:space="preserve">
+    <value>加载成功!</value>
+  </data>
+  <data name="ChessboardCalibrationComplete" xml:space="preserve">
+    <value>标定完成!</value>
+  </data>
+  <data name="ChessboardImageError" xml:space="preserve">
+    <value>图像{0}: {1:F4} 像素</value>
+  </data>
+</root>

XP.Camera/Calibration/ViewModels/CalibrationViewModel.cs

@@ -0,0 +1,158 @@
+using Emgu.CV;
+using Emgu.CV.Structure;
+using Serilog;
+using System.Collections.ObjectModel;
+using System.Drawing;
+using System.Windows.Media.Imaging;
+using Res = XP.Camera.Calibration.Resources.CalibrationResources;
+
+namespace XP.Camera.Calibration.ViewModels;
+
+public class CalibrationViewModel : BindableBase
+{
+    private readonly ICalibrationDialogService _dialogService;
+    private readonly CalibrationProcessor _calibrator = new();
+    private Image<Bgr, byte>? _currentImage;
+    private static readonly ILogger _logger = Log.ForContext<CalibrationViewModel>();
+    private BitmapSource? _imageSource;
+    private string _statusText = Res.CalibrationStatusReady;
+    private bool _showWorldCoordinates;
+
+    public CalibrationViewModel(ICalibrationDialogService dialogService)
+    {
+        _dialogService = dialogService;
+        CalibrationPoints = new ObservableCollection<CalibrationProcessor.CalibrationPoint>();
+
+        LoadImageCommand = new DelegateCommand(LoadImage);
+        LoadCsvCommand = new DelegateCommand(LoadCsv);
+        CalibrateCommand = new DelegateCommand(Calibrate, CanCalibrate)
+            .ObservesProperty(() => CalibrationPoints.Count);
+        SaveCalibrationCommand = new DelegateCommand(SaveCalibration);
+        LoadCalibrationCommand = new DelegateCommand(LoadCalibration);
+    }
+
+    public ObservableCollection<CalibrationProcessor.CalibrationPoint> CalibrationPoints { get; }
+
+    public BitmapSource? ImageSource
+    {
+        get => _imageSource;
+        set => SetProperty(ref _imageSource, value);
+    }
+
+    public string StatusText
+    {
+        get => _statusText;
+        set => SetProperty(ref _statusText, value);
+    }
+
+    public bool ShowWorldCoordinates
+    {
+        get => _showWorldCoordinates;
+        set => SetProperty(ref _showWorldCoordinates, value);
+    }
+
+    public DelegateCommand LoadImageCommand { get; }
+    public DelegateCommand LoadCsvCommand { get; }
+    public DelegateCommand CalibrateCommand { get; }
+    public DelegateCommand SaveCalibrationCommand { get; }
+    public DelegateCommand LoadCalibrationCommand { get; }
+
+    private void LoadImage()
+    {
+        _logger.Information("Loading image file");
+        var fileName = _dialogService.ShowOpenFileDialog("图像文件|*.jpg;*.png;*.bmp;*.tif");
+        if (fileName == null) return;
+
+        _currentImage = new Image<Bgr, byte>(fileName);
+        ImageSource = MatToBitmapSource(_currentImage.Mat);
+        StatusText = string.Format(Res.CalibrationStatusImageLoaded, fileName);
+        RaiseEvent(ImageLoadedRequested);
+    }
+
+    private void LoadCsv()
+    {
+        var fileName = _dialogService.ShowOpenFileDialog("CSV文件|*.csv|所有文件|*.*");
+        if (fileName == null) return;
+
+        var points = _calibrator.LoadPointsFromCsv(fileName);
+        CalibrationPoints.Clear();
+        foreach (var pt in points)
+            CalibrationPoints.Add(pt);
+
+        StatusText = string.Format(Res.CalibrationStatusCsvLoaded, CalibrationPoints.Count, fileName);
+    }
+
+    private bool CanCalibrate() => CalibrationPoints.Count >= 4;
+
+    private void Calibrate()
+    {
+        if (CalibrationPoints.Count < 4)
+        {
+            _dialogService.ShowError(Res.CalibrationErrorMinPoints, Res.CalibrationSuccessTitle);
+            return;
+        }
+
+        if (_calibrator.Calibrate(new List<CalibrationProcessor.CalibrationPoint>(CalibrationPoints)))
+        {
+            StatusText = string.Format(Res.CalibrationStatusSuccess, CalibrationPoints.Count);
+            _dialogService.ShowInfo(Res.CalibrationSuccessMessage, Res.CalibrationSuccessTitle);
+        }
+        else
+        {
+            StatusText = Res.CalibrationStatusFailed;
+            _dialogService.ShowError(Res.CalibrationStatusFailed, Res.CalibrationSuccessTitle);
+        }
+    }
+
+    private void SaveCalibration()
+    {
+        var fileName = _dialogService.ShowSaveFileDialog("标定文件|*.json", "calibration.json");
+        if (fileName == null) return;
+
+        _calibrator.SaveCalibration(fileName, new List<CalibrationProcessor.CalibrationPoint>(CalibrationPoints));
+        StatusText = string.Format(Res.CalibrationStatusSaved, fileName);
+        _dialogService.ShowInfo(Res.CalibrationSaveSuccess, Res.CalibrationSuccessTitle);
+    }
+
+    private void LoadCalibration()
+    {
+        var fileName = _dialogService.ShowOpenFileDialog("标定文件|*.json");
+        if (fileName == null) return;
+
+        if (_calibrator.LoadCalibration(fileName))
+        {
+            StatusText = string.Format(Res.CalibrationStatusLoaded, fileName);
+            _dialogService.ShowInfo(Res.CalibrationLoadSuccess, Res.CalibrationSuccessTitle);
+        }
+        else
+        {
+            _dialogService.ShowError(Res.CalibrationLoadFailed, Res.CalibrationSuccessTitle);
+        }
+    }
+
+    public PointF ConvertPixelToWorld(PointF pixel) => _calibrator.PixelToWorld(pixel);
+
+    public Image<Bgr, byte>? CurrentImage => _currentImage;
+
+    public event EventHandler? ImageLoadedRequested;
+
+    private void RaiseEvent(EventHandler? handler) => handler?.Invoke(this, EventArgs.Empty);
+
+    private static BitmapSource MatToBitmapSource(Mat mat)
+    {
+        using var bitmap = mat.ToBitmap();
+        var hBitmap = bitmap.GetHbitmap();
+        try
+        {
+            return System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap(
+                hBitmap, IntPtr.Zero, System.Windows.Int32Rect.Empty, BitmapSizeOptions.FromEmptyOptions());
+        }
+        finally
+        {
+            DeleteObject(hBitmap);
+        }
+    }
+
+    [System.Runtime.InteropServices.DllImport("gdi32.dll")]
+    private static extern bool DeleteObject(IntPtr hObject);
+}

XP.Camera/Calibration/ViewModels/ChessboardCalibrationViewModel.cs

@@ -0,0 +1,244 @@
+using Emgu.CV;
+using System.Collections.ObjectModel;
+using System.IO;
+using System.Windows.Media.Imaging;
+using Res = XP.Camera.Calibration.Resources.CalibrationResources;
+
+namespace XP.Camera.Calibration.ViewModels;
+
+public class ChessboardCalibrationViewModel : BindableBase
+{
+    private readonly ICalibrationDialogService _dialogService;
+    private readonly ChessboardCalibrator _calibrator = new();
+    private readonly ObservableCollection<string> _imagePaths = new();
+
+    private BitmapSource? _imageSource;
+    private string _statusText = Res.ChessboardStatusReady;
+    private int _chessboardWidth = 11;
+    private int _chessboardHeight = 8;
+    private float _squareSize = 15;
+    private int _selectedImageIndex = -1;
+    private bool _isCalibrating = false;
+    private double _progressValue = 0;
+    private string _progressText = "";
+
+    public ChessboardCalibrationViewModel(ICalibrationDialogService dialogService)
+    {
+        _dialogService = dialogService;
+        ImageFileNames = new ObservableCollection<string>();
+
+        AddImagesCommand = new DelegateCommand(AddImages);
+        ClearImagesCommand = new DelegateCommand(ClearImages, CanClearImages)
+            .ObservesProperty(() => ImageFileNames.Count);
+        CalibrateCommand = new DelegateCommand(async () => await CalibrateAsync(), CanCalibrate)
+            .ObservesProperty(() => ImageFileNames.Count)
+            .ObservesProperty(() => IsCalibrating);
+        SaveCalibrationCommand = new DelegateCommand(SaveCalibration);
+        LoadCalibrationCommand = new DelegateCommand(LoadCalibration);
+        UndistortImageCommand = new DelegateCommand(UndistortImage);
+
+        _calibrator.ProgressChanged += OnCalibrationProgressChanged;
+    }
+
+    public ObservableCollection<string> ImageFileNames { get; }
+    public BitmapSource? ImageSource { get => _imageSource; set => SetProperty(ref _imageSource, value); }
+    public string StatusText { get => _statusText; set => SetProperty(ref _statusText, value); }
+    public int ChessboardWidth { get => _chessboardWidth; set => SetProperty(ref _chessboardWidth, value); }
+    public int ChessboardHeight { get => _chessboardHeight; set => SetProperty(ref _chessboardHeight, value); }
+    public float SquareSize { get => _squareSize; set => SetProperty(ref _squareSize, value); }
+
+    public int SelectedImageIndex
+    {
+        get => _selectedImageIndex;
+        set { if (SetProperty(ref _selectedImageIndex, value) && value >= 0) LoadSelectedImage(value); }
+    }
+
+    public bool IsCalibrating { get => _isCalibrating; set => SetProperty(ref _isCalibrating, value); }
+    public double ProgressValue { get => _progressValue; set => SetProperty(ref _progressValue, value); }
+    public string ProgressText { get => _progressText; set => SetProperty(ref _progressText, value); }
+
+    public DelegateCommand AddImagesCommand { get; }
+    public DelegateCommand ClearImagesCommand { get; }
+    public DelegateCommand CalibrateCommand { get; }
+    public DelegateCommand SaveCalibrationCommand { get; }
+    public DelegateCommand LoadCalibrationCommand { get; }
+    public DelegateCommand UndistortImageCommand { get; }
+
+    private void AddImages()
+    {
+        var fileNames = _dialogService.ShowOpenMultipleFilesDialog("图像文件|*.jpg;*.png;*.bmp;*.tif");
+        if (fileNames == null) return;
+        foreach (var file in fileNames)
+        {
+            _imagePaths.Add(file);
+            ImageFileNames.Add(Path.GetFileName(file));
+        }
+        StatusText = string.Format(Res.ChessboardStatusAdded, _imagePaths.Count);
+    }
+
+    private bool CanClearImages() => ImageFileNames.Count > 0;
+
+    private void ClearImages()
+    {
+        _imagePaths.Clear();
+        ImageFileNames.Clear();
+        ImageSource = null;
+        StatusText = Res.ChessboardStatusCleared;
+        RaiseEvent(ImageClearedRequested);
+    }
+
+    private bool CanCalibrate() => ImageFileNames.Count >= 3 && !IsCalibrating;
+
+    private void OnCalibrationProgressChanged(int current, int total, string message)
+    {
+        System.Windows.Application.Current.Dispatcher.Invoke(() =>
+        {
+            ProgressValue = (double)current / total * 100;
+            if (message.Contains("检测角点"))
+            {
+                var match = System.Text.RegularExpressions.Regex.Match(message, @"\((\d+)/(\d+)\)");
+                ProgressText = match.Success
+                    ? string.Format(Res.ChessboardProgressDetecting, match.Groups[1].Value, match.Groups[2].Value)
+                    : message;
+            }
+            else if (message.Contains("执行相机标定"))
+                ProgressText = Res.ChessboardProgressCalibrating;
+            else if (message.Contains("计算重投影误差"))
+            {
+                var match = System.Text.RegularExpressions.Regex.Match(message, @"\((\d+)/(\d+)\)");
+                ProgressText = match.Success
+                    ? string.Format(Res.ChessboardProgressCalculating, match.Groups[1].Value, match.Groups[2].Value)
+                    : message;
+            }
+            else if (message.Contains("标定完成"))
+                ProgressText = Res.ChessboardProgressComplete;
+            else if (message.Contains("标定失败"))
+                ProgressText = Res.ChessboardProgressFailed;
+            else
+                ProgressText = message;
+        });
+    }
+
+    private async System.Threading.Tasks.Task CalibrateAsync()
+    {
+        if (_imagePaths.Count < 3)
+        {
+            _dialogService.ShowError(Res.ChessboardErrorMinImages, Res.ChessboardCalibrationComplete);
+            return;
+        }
+
+        IsCalibrating = true;
+        ProgressValue = 0;
+        ProgressText = Res.ChessboardProgressPreparing;
+        StatusText = Res.ChessboardStatusCalibrating;
+
+        try
+        {
+            await System.Threading.Tasks.Task.Run(() =>
+            {
+                if (_calibrator.CalibrateFromImages(new List<string>(_imagePaths), ChessboardWidth, ChessboardHeight, SquareSize, out string error))
+                {
+                    System.Windows.Application.Current.Dispatcher.Invoke(() =>
+                    {
+                        var imageErrors = new System.Text.StringBuilder();
+                        for (int i = 0; i < _calibrator.PerImageErrors.Count; i++)
+                            imageErrors.AppendLine(string.Format(Res.ChessboardImageError, i + 1, _calibrator.PerImageErrors[i]));
+                        StatusText = string.Format(Res.ChessboardStatusSuccess, _calibrator.ReprojectionError, imageErrors.ToString());
+                        _dialogService.ShowInfo(Res.ChessboardCalibrationComplete, Res.ChessboardSaveSuccess);
+                    });
+                }
+                else
+                {
+                    System.Windows.Application.Current.Dispatcher.Invoke(() =>
+                    {
+                        StatusText = string.Format(Res.ChessboardStatusFailed, error);
+                        _dialogService.ShowError(error, Res.ChessboardCalibrationComplete);
+                    });
+                }
+            });
+        }
+        finally
+        {
+            IsCalibrating = false;
+            ProgressValue = 0;
+        }
+    }
+
+    private void SaveCalibration()
+    {
+        var fileName = _dialogService.ShowSaveFileDialog("标定文件|*.json", "camera_calibration.json");
+        if (fileName == null) return;
+        try
+        {
+            _calibrator.SaveCalibration(fileName);
+            StatusText = string.Format(Res.ChessboardStatusSaved, fileName);
+            _dialogService.ShowInfo(Res.ChessboardSaveSuccess, Res.ChessboardCalibrationComplete);
+        }
+        catch (Exception ex)
+        {
+            _dialogService.ShowError($"保存失败: {ex.Message}", Res.ChessboardCalibrationComplete);
+        }
+    }
+
+    private void LoadCalibration()
+    {
+        var fileName = _dialogService.ShowOpenFileDialog("标定文件|*.json");
+        if (fileName == null) return;
+        if (_calibrator.LoadCalibration(fileName))
+        {
+            StatusText = string.Format(Res.ChessboardStatusLoaded, fileName);
+            _dialogService.ShowInfo(Res.ChessboardLoadSuccess, Res.ChessboardCalibrationComplete);
+        }
+        else
+        {
+            _dialogService.ShowError(Res.CalibrationLoadFailed, Res.ChessboardCalibrationComplete);
+        }
+    }
+
+    private void UndistortImage()
+    {
+        var fileName = _dialogService.ShowOpenFileDialog("图像文件|*.jpg;*.png;*.bmp;*.tif");
+        if (fileName == null) return;
+        using var image = CvInvoke.Imread(fileName);
+        var undistorted = _calibrator.UndistortImage(image);
+        ImageSource = MatToBitmapSource(undistorted);
+        StatusText = string.Format(Res.ChessboardStatusUndistorted, Path.GetFileName(fileName));
+        RaiseEvent(ImageLoadedRequested);
+    }
+
+    private void LoadSelectedImage(int index)
+    {
+        if (index < 0 || index >= _imagePaths.Count) return;
+        var img = _calibrator.DrawChessboardCorners(_imagePaths[index], ChessboardWidth, ChessboardHeight);
+        if (img != null)
+        {
+            ImageSource = MatToBitmapSource(img);
+            RaiseEvent(ImageLoadedRequested);
+        }
+        if (_calibrator.PerImageErrors.Count > index)
+            StatusText = string.Format(Res.ChessboardStatusImageError, index + 1, _calibrator.PerImageErrors[index]);
+    }
+
+    public event EventHandler? ImageLoadedRequested;
+    public event EventHandler? ImageClearedRequested;
+
+    private void RaiseEvent(EventHandler? handler) => handler?.Invoke(this, EventArgs.Empty);
+
+    private static BitmapSource MatToBitmapSource(Mat mat)
+    {
+        using var bitmap = mat.ToBitmap();
+        var hBitmap = bitmap.GetHbitmap();
+        try
+        {
+            return System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap(
+                hBitmap, IntPtr.Zero, System.Windows.Int32Rect.Empty, BitmapSizeOptions.FromEmptyOptions());
+        }
+        finally
+        {
+            DeleteObject(hBitmap);
+        }
+    }
+
+    [System.Runtime.InteropServices.DllImport("gdi32.dll")]
+    private static extern bool DeleteObject(IntPtr hObject);
+}

XP.Camera/README.md

@@ -1,6 +1,6 @@
 # XP.Camera 使用说明
 
-基于 .NET 8 WPF 的工业相机控制类库，采用工厂模式 + 统一接口设计，支持多品牌相机扩展。当前已实现 Basler pylon SDK 驱动。
+基于 .NET 8 WPF 的工业相机控制与标定类库，采用工厂模式 + 统一接口设计，支持多品牌相机扩展。当前已实现 Basler pylon SDK 驱动。
 
 ## 环境要求
 
@@ -12,16 +12,36 @@
 
 ```
 XP.Camera/
-├── ICameraController.cs       # 控制器接口 + 工厂接口
-├── CameraFactory.cs           # 统一工厂（根据品牌创建控制器）
-├── BaslerCameraController.cs  # Basler 实现
-├── CameraModels.cs            # CameraInfo、ImageGrabbedEventArgs、GrabErrorEventArgs
-├── CameraExceptions.cs        # CameraException、ConnectionLostException、DeviceNotFoundException
-├── PixelConverter.cs           # 像素数据 → WPF BitmapSource 转换工具
+├── Core/                          # 相机核心抽象
+│   ├── ICameraController.cs       # 控制器接口 + 工厂接口
+│   ├── CameraFactory.cs           # 统一工厂（根据品牌创建控制器）
+│   ├── CameraModels.cs            # CameraInfo、ImageGrabbedEventArgs、GrabErrorEventArgs
+│   └── CameraExceptions.cs        # CameraException、ConnectionLostException、DeviceNotFoundException
+├── Basler/                        # Basler 品牌实现
+│   └── BaslerCameraController.cs  # Basler pylon SDK 实现
+├── Converters/                    # 数据转换工具
+│   └── PixelConverter.cs          # 像素数据 → WPF BitmapSource 转换
+├── Calibration/                   # 相机标定模块
+│   ├── CalibrationProcessor.cs    # 九点标定（DLT 单应性矩阵，像素→世界坐标）
+│   ├── ChessboardCalibrator.cs    # 棋盘格标定（Zhang's 方法，内参 + 畸变校正）
+│   ├── IDialogService.cs          # ICalibrationDialogService 接口
+│   ├── DefaultCalibrationDialogService.cs  # 默认实现（标准 WPF MessageBox）
+│   ├── CalibrationLocalizedStrings.cs      # XAML 本地化绑定辅助
+│   ├── Controls/                  # 标定 UI 控件（UserControl）
+│   │   ├── CalibrationControl.xaml/.cs           # 九点标定界面
+│   │   ├── ChessboardCalibrationControl.xaml/.cs # 棋盘格标定界面
+│   │   └── ImageCanvasControl.xaml/.cs           # 图像画布（缩放/平移）
+│   ├── ViewModels/                # 标定视图模型
+│   │   ├── CalibrationViewModel.cs
+│   │   └── ChessboardCalibrationViewModel.cs
+│   └── Resources/                 # 本地化资源
+│       ├── CalibrationResources.resx        # 中文（默认）
+│       ├── CalibrationResources.en-US.resx  # 英文
+│       └── CalibrationResources.Designer.cs
 └── XP.Camera.csproj
 ```
 
-所有类型统一在 `XP.Camera` 命名空间下。
+所有相机核心类型在 `XP.Camera` 命名空间下，标定模块在 `XP.Camera.Calibration` 命名空间下。
 
 ## 项目引用
 
@@ -48,27 +68,12 @@ Console.WriteLine($"已连接: {info.ModelName} (SN: {info.SerialNumber})");
 在 Prism / DI 容器中注册：
 
 ```csharp
-// App.xaml.cs
 var config = AppConfig.Load();
 containerRegistry.RegisterSingleton<ICameraFactory, CameraFactory>();
 containerRegistry.RegisterSingleton<ICameraController>(() =>
     new CameraFactory().CreateController(config.CameraType));
 ```
 
-ViewModel 中注入使用：
-
-```csharp
-public class MyViewModel
-{
-    private readonly ICameraController _camera;
-
-    public MyViewModel(ICameraController camera)
-    {
-        _camera = camera;
-    }
-}
-```
-
 相机品牌通过配置文件 `config.json` 指定：
 
 ```json
@@ -82,60 +87,85 @@ public class MyViewModel
 ```csharp
 _camera.ImageGrabbed += (s, e) =>
 {
-    // PixelConverter 返回已 Freeze 的 BitmapSource，可跨线程传递
     var bitmap = PixelConverter.ToBitmapSource(
         e.PixelData, e.Width, e.Height, e.PixelFormat);
-
-    Application.Current.Dispatcher.Invoke(() =>
-    {
-        CameraImageSource = bitmap;
-    });
+    Application.Current.Dispatcher.Invoke(() => CameraImageSource = bitmap);
 };
 ```
 
-XAML 绑定：
-
-```xml
-<Image Source="{Binding CameraImageSource}" Stretch="Uniform" />
-```
-
 ### 4. 软件触发采集流程
 
 ```csharp
 camera.Open();
 camera.SetExposureTime(10000);  // 10ms
 camera.StartGrabbing();
-
-// 每次需要采集时调用（结果通过 ImageGrabbed 事件返回）
 camera.ExecuteSoftwareTrigger();
-
 camera.StopGrabbing();
 camera.Close();
 ```
 
-### 5. 实时连续采集（链式触发）
+### 5. 使用标定模块
 
-收到上一帧后立即触发下一帧，自动适配任何帧率：
+标定模块完全自包含，可独立使用，无需外部依赖。
+
+#### 棋盘格标定（相机内参 + 畸变校正）
 
 ```csharp
-private volatile bool _liveViewRunning;
+using XP.Camera.Calibration;
+using XP.Camera.Calibration.ViewModels;
+using XP.Camera.Calibration.Controls;
 
-_camera.ImageGrabbed += (s, e) =>
+// 使用默认对话框服务（标准 WPF MessageBox）
+var dialogService = new DefaultCalibrationDialogService();
+var viewModel = new ChessboardCalibrationViewModel(dialogService);
+
+var window = new Window
 {
-    var bitmap = PixelConverter.ToBitmapSource(e.PixelData, e.Width, e.Height, e.PixelFormat);
-    Application.Current.Dispatcher.Invoke(() => CameraImageSource = bitmap);
-
-    if (_liveViewRunning)
-        _camera.ExecuteSoftwareTrigger();  // 链式触发下一帧
+    Title = "棋盘格标定",
+    Width = 1600, Height = 900,
+    Content = new ChessboardCalibrationControl { DataContext = viewModel }
 };
+window.ShowDialog();
+```
 
-// 启动实时
-_camera.StartGrabbing();
-_liveViewRunning = true;
-_camera.ExecuteSoftwareTrigger();  // 触发第一帧
+#### 九点标定（像素→世界坐标）
 
-// 停止实时
-_liveViewRunning = false;
+```csharp
+var dialogService = new DefaultCalibrationDialogService();
+var viewModel = new CalibrationViewModel(dialogService);
+
+var window = new Window
+{
+    Title = "九点标定",
+    Width = 1400, Height = 850,
+    Content = new CalibrationControl { DataContext = viewModel }
+};
+window.ShowDialog();
+```
+
+#### 纯算法调用（不使用 UI）
+
+```csharp
+// 棋盘格标定
+var calibrator = new ChessboardCalibrator();
+calibrator.CalibrateFromImages(imagePaths, boardWidth: 11, boardHeight: 8, squareSize: 15f, out string error);
+calibrator.SaveCalibration("camera_calibration.json");
+
+// 九点标定
+var processor = new CalibrationProcessor();
+processor.Calibrate(points);
+var worldPoint = processor.PixelToWorld(new PointF(100, 200));
+```
+
+#### 自定义对话框服务
+
+如需自定义弹框样式，实现 `ICalibrationDialogService` 接口即可：
+
+```csharp
+public class MyDialogService : ICalibrationDialogService
+{
+    // 实现所有接口方法，使用自定义 UI 组件...
+}
 ```
 
 ## 核心接口
@@ -149,94 +179,37 @@ _liveViewRunning = false;
 | `StartGrabbing()` | 以软件触发模式启动采集 |
 | `ExecuteSoftwareTrigger()` | 触发一帧采集 |
 | `StopGrabbing()` | 停止采集 |
+| `Get/SetExposureTime` | 曝光时间（微秒） |
+| `Get/SetGain` | 增益值 |
+| `Get/SetWidth/Height` | 图像尺寸 |
+| `Get/SetPixelFormat` | 像素格式（Mono8 / BGR8 / BGRA8） |
 
-### 参数读写
+### 事件
 
-| 方法 | 说明 |
+| 事件 | 说明 |
 |------|------|
-| `Get/SetExposureTime(double)` | 曝光时间（微秒） |
-| `Get/SetGain(double)` | 增益值 |
-| `Get/SetWidth(int)` | 图像宽度（自动校正到有效值） |
-| `Get/SetHeight(int)` | 图像高度（自动校正到有效值） |
-| `Get/SetPixelFormat(string)` | 像素格式（Mono8 / BGR8 / BGRA8） |
+| `ImageGrabbed` | 成功采集一帧图像 |
+| `GrabError` | 图像采集失败 |
+| `ConnectionLost` | 相机连接意外断开 |
 
-### ICameraFactory
-
-| 方法 | 说明 |
-|------|------|
-| `CreateController(string cameraType)` | 根据品牌名创建控制器 |
-
-当前支持的 `cameraType` 值：`"Basler"`
-
-## 事件
-
-| 事件 | 说明 | 触发线程 |
-|------|------|----------|
-| `ImageGrabbed` | 成功采集一帧图像 | StreamGrabber 回调线程 |
-| `GrabError` | 图像采集失败 | StreamGrabber 回调线程 |
-| `ConnectionLost` | 相机连接意外断开 | pylon SDK 事件线程 |
-
-> 所有事件均在非 UI 线程触发。更新 WPF 界面时需通过 `Dispatcher.Invoke` 调度。
-> `PixelConverter.ToBitmapSource()` 返回的 BitmapSource 已调用 `Freeze()`，可直接跨线程传递。
+> 所有事件均在非 UI 线程触发，更新 WPF 界面时需通过 `Dispatcher.Invoke` 调度。
 
 ## 异常处理
 
-```csharp
-try
-{
-    camera.Open();
-}
-catch (DeviceNotFoundException)
-{
-    // 无可用相机设备
-}
-catch (CameraException ex)
-{
-    // 其他相机错误，ex.InnerException 包含原始 SDK 异常
-}
-```
-
 | 异常类型 | 场景 |
 |---------|------|
 | `DeviceNotFoundException` | 无可用相机 |
 | `ConnectionLostException` | 相机物理断开 |
 | `CameraException` | SDK 操作失败（基类） |
-| `InvalidOperationException` | 未连接时访问参数，未采集时触发 |
-| `TimeoutException` | 软件触发等待超时 |
 
 ## 扩展其他品牌相机
 
-1. 实现 `ICameraController` 接口：
-
-```csharp
-public class HikvisionCameraController : ICameraController
-{
-    // 实现所有接口方法...
-}
-```
-
-2. 在 `CameraFactory.cs` 中注册：
-
-```csharp
-public ICameraController CreateController(string cameraType)
-{
-    return cameraType switch
-    {
-        "Basler" => new BaslerCameraController(),
-        "Hikvision" => new HikvisionCameraController(),
-        _ => throw new NotSupportedException($"不支持的相机品牌: {cameraType}")
-    };
-}
-```
-
-3. 配置文件切换品牌即可，业务代码无需修改。
+1. 在 `Basler/` 同级创建新文件夹，实现 `ICameraController` 接口
+2. 在 `CameraFactory.cs` 中注册新品牌
+3. 配置文件切换品牌即可，业务代码无需修改
 
 ## 线程安全
 
-- 所有公共方法（Open / Close / StartGrabbing / StopGrabbing / ExecuteSoftwareTrigger / 参数读写）均线程安全
+- 所有公共方法均线程安全
 - 事件回调不持有内部锁，不会导致死锁
 - `Open()` / `Close()` 幂等，重复调用安全
-
-## 日志
-
-使用 Serilog 静态 API（`Log.ForContext<T>()`），与宿主应用共享同一个日志管道。宿主应用只需在启动时配置 `Log.Logger` 即可。

XP.Camera/XP.Camera.csproj

@@ -13,7 +13,24 @@
     <Reference Include="Basler.Pylon">
       <HintPath>..\ExternalLibraries\Basler.Pylon.dll</HintPath>
     </Reference>
+    <PackageReference Include="Emgu.CV" Version="4.10.0.5680" />
+    <PackageReference Include="Emgu.CV.runtime.windows" Version="4.10.0.5680" />
+    <PackageReference Include="Emgu.CV.Bitmap" Version="4.10.0.5680" />
+    <PackageReference Include="MahApps.Metro.IconPacks" Version="6.2.1" />
+    <PackageReference Include="Prism.DryIoc" Version="9.0.537" />
+    <PackageReference Include="Prism.Wpf" Version="9.0.537" />
     <PackageReference Include="Serilog" Version="4.3.1" />
+    <ProjectReference Include="..\XP.Common\XP.Common.csproj" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <EmbeddedResource Update="Calibration\Resources\CalibrationResources.resx">
+      <Generator>PublicResXFileCodeGenerator</Generator>
+      <LastGenOutput>CalibrationResources.Designer.cs</LastGenOutput>
+    </EmbeddedResource>
+    <EmbeddedResource Update="Calibration\Resources\CalibrationResources.en-US.resx">
+      <DependentUpon>CalibrationResources.resx</DependentUpon>
+    </EmbeddedResource>
   </ItemGroup>
 
 </Project>