已合并 PR 29: TURBO-568，TURBO-569

1.导航相机校准和标定迁移到XP.Camera类；
2.导航相机控制部分去掉按钮操作改为软件启动自动连接；
3.左键双击导航相机图像获取及显示坐标点；

README.md

@@ -1,110 +1,110 @@
-## XplorePlane 平面CT软件
+## XplorePlane 平面CT软件
-
+
-### 系统目标
+### 系统目标
-
+
-XplorePlane 系统用于控制平面 CT 设备的各个子系统（射线源、探测器、运动控制、相机）并完成采集图像的处理与分析，为研发与调试提供统一的软件平台。
+XplorePlane 系统用于控制平面 CT 设备的各个子系统（射线源、探测器、运动控制、相机）并完成采集图像的处理与分析，为研发与调试提供统一的软件平台。
-
+
-### 总体架构
+### 总体架构
-
+
-- 客户端框架: WPF + Prism MVVM（目标框架 net8.0-windows）
+- 客户端框架: WPF + Prism MVVM（目标框架 net8.0-windows）
-- 图像处理内核: ImageProcessing.Core（算子基类）+ ImageProcessing.Processors（具体算子），基于 EmguCV
+- 图像处理内核: ImageProcessing.Core（算子基类）+ ImageProcessing.Processors（具体算子），基于 EmguCV
-- 相机控制: XP.Camera（Basler pylon SDK 封装，支持软件触发、参数读写）
+- 相机控制: XP.Camera（Basler pylon SDK 封装，支持软件触发、参数读写）
-- 硬件抽象: XP.Common + XP.Hardware.RaySource（射线源控制）
+- 硬件抽象: XP.Common + XP.Hardware.RaySource（射线源控制）
-- 日志: Serilog
+- 日志: Serilog
-- UI 组件: Telerik RadRibbonView、Fluent.Ribbon
+- UI 组件: Telerik RadRibbonView、Fluent.Ribbon
-
+
-### 解决方案结构
+### 解决方案结构
-
+
-```
+```
-XplorePlane.sln
+XplorePlane.sln
-├── XplorePlane/                    # 主应用程序（WPF）
+├── XplorePlane/                    # 主应用程序（WPF）
-├── XP.Camera/                      # 相机控制库（Basler）
+├── XP.Camera/                      # 相机控制库（Basler）
-├── ImageProcessing/                # 独立图像处理应用
+├── ImageProcessing/                # 独立图像处理应用
-├── ImageProcessing.Core/           # 图像处理算子基类
+├── ImageProcessing.Core/           # 图像处理算子基类
-├── ImageProcessing.Processors/     # 具体算子实现
+├── ImageProcessing.Processors/     # 具体算子实现
-├── ImageProcessing.Controls/       # 图像显示控件（ImageCanvasControl）
+├── ImageProcessing.Controls/       # 图像显示控件（ImageCanvasControl）
-├── ImageROIControl/                # ROI 绘制控件
+├── ImageROIControl/                # ROI 绘制控件
-├── XplorePlane.Tests/              # 单元测试
+├── XplorePlane.Tests/              # 单元测试
-└── ExternalLibraries/              # 外部 DLL 和 ONNX 模型
+└── ExternalLibraries/              # 外部 DLL 和 ONNX 模型
-```
+```
-
+
-### XplorePlane 主项目结构
+### XplorePlane 主项目结构
-
+
-```
+```
-XplorePlane/
+XplorePlane/
-├── App.xaml / App.xaml.cs          # 应用入口 + DI 容器配置（AppBootstrapper）
+├── App.xaml / App.xaml.cs          # 应用入口 + DI 容器配置（AppBootstrapper）
-├── Views/
+├── Views/
-│   ├── Main/
+│   ├── Main/
-│   │   ├── MainWindow.xaml         # 主窗口（Telerik Ribbon + 三栏布局）
+│   │   ├── MainWindow.xaml         # 主窗口（Telerik Ribbon + 三栏布局）
-│   │   ├── NavigationPropertyPanelView.xaml  # 相机实时预览面板
+│   │   ├── NavigationPropertyPanelView.xaml  # 相机实时预览面板
-│   │   └── MotionControlPanelView.xaml       # 运动控制面板
+│   │   └── MotionControlPanelView.xaml       # 运动控制面板
-│   ├── Cnc/                        # CNC 编辑器 / 矩阵编排视图
+│   ├── Cnc/                        # CNC 编辑器 / 矩阵编排视图
-│   ├── ImageProcessing/            # 图像处理面板视图
+│   ├── ImageProcessing/            # 图像处理面板视图
-│   └── CameraSettingsWindow.xaml   # 相机参数设置对话框
+│   └── CameraSettingsWindow.xaml   # 相机参数设置对话框
-├── ViewModels/
+├── ViewModels/
-│   ├── Main/
+│   ├── Main/
-│   │   ├── MainViewModel.cs                      # 主窗口 ViewModel
+│   │   ├── MainViewModel.cs                      # 主窗口 ViewModel
-│   │   └── NavigationPropertyPanelViewModel.cs   # 相机预览 ViewModel
+│   │   └── NavigationPropertyPanelViewModel.cs   # 相机预览 ViewModel
-│   ├── Cnc/                        # CNC / 矩阵 ViewModel
+│   ├── Cnc/                        # CNC / 矩阵 ViewModel
-│   └── ImageProcessing/            # 图像处理 / 流水线 ViewModel
+│   └── ImageProcessing/            # 图像处理 / 流水线 ViewModel
-├── Services/
+├── Services/
-│   ├── AppState/                   # 全局状态管理（线程安全）
+│   ├── AppState/                   # 全局状态管理（线程安全）
-│   ├── Camera/                     # 相机服务
+│   ├── Camera/                     # 相机服务
-│   ├── Cnc/                        # CNC 程序服务
+│   ├── Cnc/                        # CNC 程序服务
-│   ├── Matrix/                     # 矩阵编排服务
+│   ├── Matrix/                     # 矩阵编排服务
-│   ├── Measurement/                # 测量数据服务
+│   ├── Measurement/                # 测量数据服务
-│   ├── Pipeline/                   # 流水线执行 / 持久化
+│   ├── Pipeline/                   # 流水线执行 / 持久化
-│   └── Recipe/                     # 检测配方服务
+│   └── Recipe/                     # 检测配方服务
-├── Models/                         # 数据模型（State、CNC、Matrix、Pipeline 等）
+├── Models/                         # 数据模型（State、CNC、Matrix、Pipeline 等）
-├── Events/                         # Prism 事件
+├── Events/                         # Prism 事件
-├── Libs/
+├── Libs/
-│   ├── Hardware/                   # 硬件库 DLL（XP.Common、XP.Hardware.RaySource）
+│   ├── Hardware/                   # 硬件库 DLL（XP.Common、XP.Hardware.RaySource）
-│   └── Native/                     # 原生依赖库
+│   └── Native/                     # 原生依赖库
-└── Assets/Icons/                   # 工具栏图标
+└── Assets/Icons/                   # 工具栏图标
-```
+```
-
+
-### 相机集成
+### 相机集成
-
+
-相机实时影像集成在主窗口左下角的 NavigationPropertyPanelView 中：
+相机实时影像集成在主窗口左下角的 NavigationPropertyPanelView 中：
-
+
-- 连接/断开相机（Basler，通过 ICameraController）
+- 连接/断开相机（Basler，通过 ICameraController）
-- 开始/停止采集（软件触发模式）
+- 开始/停止采集（软件触发模式）
-- 实时预览（Live View，勾选"实时"复选框）
+- 实时预览（Live View，勾选"实时"复选框）
-- 鼠标悬停显示像素坐标
+- 鼠标悬停显示像素坐标
-- 相机参数设置对话框（曝光时间、增益、分辨率、像素格式）
+- 相机参数设置对话框（曝光时间、增益、分辨率、像素格式）
-- 主界面 Ribbon 硬件栏提供"相机设置"快捷按钮
+- 主界面 Ribbon 硬件栏提供"相机设置"快捷按钮
-
+
-相机控制逻辑移植自 ImageProcessing 项目，使用 XP.Camera.PixelConverter 进行像素数据转换，通过 Application.Dispatcher.Invoke 保证 UI 线程安全。
+相机控制逻辑移植自 ImageProcessing 项目，使用 XP.Camera.PixelConverter 进行像素数据转换，通过 Application.Dispatcher.Invoke 保证 UI 线程安全。
-
+
-### 依赖注入（DI）
+### 依赖注入（DI）
-
+
-使用 Prism + DryIoc，在 AppBootstrapper.RegisterTypes() 中统一注册：
+使用 Prism + DryIoc，在 AppBootstrapper.RegisterTypes() 中统一注册：
-
+
-- ICameraFactory / ICameraController / ICameraService（单例）
+- ICameraFactory / ICameraController / ICameraService（单例）
-- IRaySourceService / IRaySourceFactory（单例）
+- IRaySourceService / IRaySourceFactory（单例）
-- IAppStateService（单例，线程安全状态管理）
+- IAppStateService（单例，线程安全状态管理）
-- NavigationPropertyPanelViewModel（单例，相机预览共享实例）
+- NavigationPropertyPanelViewModel（单例，相机预览共享实例）
-- 各 Service 和 ViewModel（按需注册）
+- 各 Service 和 ViewModel（按需注册）
-
+
-### 构建
+### 构建
-
+
-```bash
+```bash
-# Debug
+# Debug
-dotnet build XplorePlane.sln -c Debug
+dotnet build XplorePlane.sln -c Debug
-
+
-# Release
+# Release
-dotnet build XplorePlane.sln -c Release
+dotnet build XplorePlane.sln -c Release
-```
+```
-
+
-### TO-DO List
+### TO-DO List
-
+
-- [x] 软件基于 WPF + Prism 基础的框架
+- [x] 软件基于 WPF + Prism 基础的框架
-- [x] 日志库的引用（通过 XP.Common.dll）
+- [x] 日志库的引用（通过 XP.Common.dll）
-- [x] 按推荐的 DLL 目录结构进行修改
+- [x] 按推荐的 DLL 目录结构进行修改
-- [x] 通过库依赖的方式调用日志功能
+- [x] 通过库依赖的方式调用日志功能
-- [x] 界面的布局
+- [x] 界面的布局
-- [x] 相机实时影像集成（连接、采集、Live View、像素坐标显示）
+- [x] 相机实时影像集成（连接、采集、Live View、像素坐标显示）
-- [x] 相机参数设置对话框（曝光、增益、分辨率、像素格式）
+- [x] 相机参数设置对话框（曝光、增益、分辨率、像素格式）
-- [x] 主界面硬件栏相机设置按钮
+- [x] 主界面硬件栏相机设置按钮
-- [ ] 打通与硬件层的调用流程
+- [ ] 打通与硬件层的调用流程
-- [ ] 打通与图像层的调用流程
+- [ ] 打通与图像层的调用流程

XP.Camera/Basler/BaslerCameraController.cs

@@ -195,7 +195,6 @@ public class BaslerCameraController : ICameraController
                 }
 
                 _camera.ExecuteSoftwareTrigger();
-                _logger.Debug("Software trigger executed.");
             }
             catch (TimeoutException)
             {

XP.Camera/Calibration/CalibrationLocalizedStrings.cs

@@ -0,0 +1,8 @@
+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

@@ -0,0 +1,221 @@
+// ============================================================================
+// 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
+├── Core/                          # 相机核心抽象
-├── CameraFactory.cs           # 统一工厂（根据品牌创建控制器）
+│   ├── ICameraController.cs       # 控制器接口 + 工厂接口
-├── BaslerCameraController.cs  # Basler 实现
+│   ├── CameraFactory.cs           # 统一工厂（根据品牌创建控制器）
-├── CameraModels.cs            # CameraInfo、ImageGrabbedEventArgs、GrabErrorEventArgs
+│   ├── CameraModels.cs            # CameraInfo、ImageGrabbedEventArgs、GrabErrorEventArgs
-├── CameraExceptions.cs        # CameraException、ConnectionLostException、DeviceNotFoundException
+│   └── CameraExceptions.cs        # CameraException、ConnectionLostException、DeviceNotFoundException
-├── PixelConverter.cs           # 像素数据 → WPF BitmapSource 转换工具
+├── 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);
+    Title = "棋盘格标定",
-    Application.Current.Dispatcher.Invoke(() => CameraImageSource = bitmap);
+    Width = 1600, Height = 900,
-
+    Content = new ChessboardCalibrationControl { DataContext = viewModel }
-    if (_liveViewRunning)
-        _camera.ExecuteSoftwareTrigger();  // 链式触发下一帧
 };
+window.ShowDialog();
+```
 
-// 启动实时
+#### 九点标定（像素→世界坐标）
-_camera.StartGrabbing();
-_liveViewRunning = true;
-_camera.ExecuteSoftwareTrigger();  // 触发第一帧
 
-// 停止实时
+```csharp
-_liveViewRunning = false;
+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） |
+| `ImageGrabbed` | 成功采集一帧图像 |
-| `Get/SetGain(double)` | 增益值 |
+| `GrabError` | 图像采集失败 |
-| `Get/SetWidth(int)` | 图像宽度（自动校正到有效值） |
+| `ConnectionLost` | 相机连接意外断开 |
-| `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） |
 
-### ICameraFactory
+> 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。
-
-| 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。
 
 ## 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：
+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
-```csharp
+3. 配置文件切换品牌即可，业务代码无需修改
-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。
 
 ## 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>

XP.Common/GeneralForm/Views/HexMessageBox.xaml

@@ -0,0 +1,114 @@
+<Window x:Class="XP.Common.GeneralForm.Views.HexMessageBox"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        Height="240" Width="400"
+        MinHeight="240" MinWidth="400"
+        MaxHeight="240" MaxWidth="400"
+        WindowStartupLocation="Manual"
+        Topmost="True"
+        WindowStyle="None"
+        x:Name="csdMessageBox"
+        Background="White">
+
+    <Window.Resources>
+        <Style x:Key="MenuButton" TargetType="Button">
+            <Setter Property="MinWidth" Value="80" />
+            <Setter Property="Height" Value="30" />
+            <Setter Property="Background" Value="#0078D7" />
+            <Setter Property="Foreground" Value="White" />
+            <Setter Property="BorderThickness" Value="0" />
+            <Setter Property="FontSize" Value="14" />
+            <Setter Property="Cursor" Value="Hand" />
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="Button">
+                        <Border Background="{TemplateBinding Background}" CornerRadius="2" Padding="10,5">
+                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center" />
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsMouseOver" Value="True">
+                                <Setter Property="Background" Value="#005A9E" />
+                            </Trigger>
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter Property="Background" Value="#004275" />
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+    </Window.Resources>
+
+    <Border BorderBrush="#CCCCCC" BorderThickness="1">
+        <Grid>
+            <Grid.RowDefinitions>
+                <RowDefinition Height="*" />
+                <RowDefinition Height="Auto" />
+                <RowDefinition Height="Auto" />
+            </Grid.RowDefinitions>
+
+            <Grid Grid.Row="0" Margin="10">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="Auto" />
+                    <ColumnDefinition Width="*" />
+                </Grid.ColumnDefinitions>
+
+                <Image Grid.Column="0" Source="{Binding Icon, ElementName=csdMessageBox}"
+                       Width="34" Height="33" Margin="0,0,10,0" VerticalAlignment="Top" />
+
+                <ScrollViewer Grid.Column="1" VerticalScrollBarVisibility="Auto" MaxHeight="140">
+                    <TextBlock Text="{Binding MessageText, ElementName=csdMessageBox}"
+                             TextWrapping="Wrap" FontSize="14" VerticalAlignment="Center" />
+                </ScrollViewer>
+            </Grid>
+
+            <Rectangle Grid.Row="1" Fill="#CCCCCC" Height="1" />
+
+            <Grid Grid.Row="2" Margin="10">
+                <StackPanel Orientation="Horizontal" HorizontalAlignment="Right">
+                    <StackPanel.Style>
+                        <Style TargetType="StackPanel">
+                            <Setter Property="Visibility" Value="Collapsed" />
+                            <Style.Triggers>
+                                <DataTrigger Binding="{Binding MessageBoxButton, ElementName=csdMessageBox}" Value="{x:Static MessageBoxButton.YesNo}">
+                                    <Setter Property="Visibility" Value="Visible" />
+                                </DataTrigger>
+                            </Style.Triggers>
+                        </Style>
+                    </StackPanel.Style>
+                    <Button Content="Yes" Style="{StaticResource MenuButton}" Margin="0,0,10,0" Click="Yes_Click" />
+                    <Button Content="No" Style="{StaticResource MenuButton}" Click="No_Click" />
+                </StackPanel>
+
+                <StackPanel Orientation="Horizontal" HorizontalAlignment="Right">
+                    <StackPanel.Style>
+                        <Style TargetType="StackPanel">
+                            <Setter Property="Visibility" Value="Collapsed" />
+                            <Style.Triggers>
+                                <DataTrigger Binding="{Binding MessageBoxButton, ElementName=csdMessageBox}" Value="{x:Static MessageBoxButton.OKCancel}">
+                                    <Setter Property="Visibility" Value="Visible" />
+                                </DataTrigger>
+                            </Style.Triggers>
+                        </Style>
+                    </StackPanel.Style>
+                    <Button Content="OK" Style="{StaticResource MenuButton}" Margin="0,0,10,0" Click="OK_Click" />
+                    <Button Content="Cancel" Style="{StaticResource MenuButton}" Click="Cancel_Click" />
+                </StackPanel>
+
+                <StackPanel HorizontalAlignment="Right">
+                    <StackPanel.Style>
+                        <Style TargetType="StackPanel">
+                            <Setter Property="Visibility" Value="Collapsed" />
+                            <Style.Triggers>
+                                <DataTrigger Binding="{Binding MessageBoxButton, ElementName=csdMessageBox}" Value="{x:Static MessageBoxButton.OK}">
+                                    <Setter Property="Visibility" Value="Visible" />
+                                </DataTrigger>
+                            </Style.Triggers>
+                        </Style>
+                    </StackPanel.Style>
+                    <Button Content="OK" Style="{StaticResource MenuButton}" Click="OK_Click" />
+                </StackPanel>
+            </Grid>
+        </Grid>
+    </Border>
+</Window>

XP.Common/GeneralForm/Views/HexMessageBox.xaml.cs

@@ -0,0 +1,109 @@
+using System;
+using System.Drawing;
+using System.Windows;
+using System.Windows.Interop;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+
+namespace XP.Common.GeneralForm.Views;
+
+/// <summary>
+/// 自定义消息框，可替代标准 MessageBox
+/// </summary>
+public partial class HexMessageBox : Window
+{
+    public MessageBoxResult Result { get; set; }
+
+    public string MessageText
+    {
+        get => (string)GetValue(MessageTextProperty);
+        set => SetValue(MessageTextProperty, value);
+    }
+
+    public static readonly DependencyProperty MessageTextProperty =
+        DependencyProperty.Register("MessageText", typeof(string), typeof(HexMessageBox), new PropertyMetadata(""));
+
+    public new ImageSource Icon
+    {
+        get => (ImageSource)GetValue(IconProperty);
+        set => SetValue(IconProperty, value);
+    }
+
+    public new static readonly DependencyProperty IconProperty =
+        DependencyProperty.Register("Icon", typeof(ImageSource), typeof(HexMessageBox), new PropertyMetadata(null));
+
+    public MessageBoxButton MessageBoxButton
+    {
+        get => (MessageBoxButton)GetValue(MessageBoxButtonProperty);
+        set => SetValue(MessageBoxButtonProperty, value);
+    }
+
+    public static readonly DependencyProperty MessageBoxButtonProperty =
+        DependencyProperty.Register("MessageBoxButton", typeof(MessageBoxButton), typeof(HexMessageBox), new PropertyMetadata(MessageBoxButton.OK));
+
+    public HexMessageBox(string messageText, MessageBoxButton messageBoxButton, MessageBoxImage image)
+    {
+        InitializeComponent();
+
+        Left = (SystemParameters.PrimaryScreenWidth - Width) / 2;
+        Top = (SystemParameters.PrimaryScreenHeight - Height) / 2;
+
+        MessageText = messageText;
+        IntPtr iconHandle = SystemIcons.Information.Handle;
+
+        switch (image)
+        {
+            case MessageBoxImage.Error:
+                iconHandle = SystemIcons.Error.Handle;
+                break;
+            case MessageBoxImage.Question:
+                iconHandle = SystemIcons.Question.Handle;
+                break;
+            case MessageBoxImage.Warning:
+                iconHandle = SystemIcons.Warning.Handle;
+                break;
+            case MessageBoxImage.Information:
+                iconHandle = SystemIcons.Information.Handle;
+                break;
+        }
+
+        Icon = Imaging.CreateBitmapSourceFromHIcon(iconHandle, Int32Rect.Empty, BitmapSizeOptions.FromEmptyOptions());
+        Icon.Freeze();
+
+        MessageBoxButton = messageBoxButton;
+        Result = MessageBoxResult.None;
+        Topmost = true;
+    }
+
+    /// <summary>
+    /// 显示模态对话框并返回结果
+    /// </summary>
+    public static MessageBoxResult Show(string messageText, MessageBoxButton messageBoxButton, MessageBoxImage image)
+    {
+        return Application.Current.Dispatcher.Invoke(() =>
+        {
+            var window = new HexMessageBox(messageText, messageBoxButton, image);
+            window.ShowDialog();
+            return window.Result;
+        });
+    }
+
+    /// <summary>
+    /// 显示非模态消息
+    /// </summary>
+    public static HexMessageBox ShowMessage(string messageText, MessageBoxImage image)
+    {
+        HexMessageBox? messageBox = null;
+        Application.Current.Dispatcher.Invoke(() =>
+        {
+            messageBox = new HexMessageBox(messageText, MessageBoxButton.OK, image);
+            messageBox.Show();
+        });
+        return messageBox!;
+    }
+
+    private void Yes_Click(object sender, RoutedEventArgs e) { Result = MessageBoxResult.Yes; Close(); }
+    private void No_Click(object sender, RoutedEventArgs e) { Result = MessageBoxResult.No; Close(); }
+    private void OK_Click(object sender, RoutedEventArgs e) { Result = MessageBoxResult.OK; Close(); }
+    private void Cancel_Click(object sender, RoutedEventArgs e) { Result = MessageBoxResult.Cancel; Close(); }
+}

XP.Common/Helpers/ConfigLoader.cs

@@ -1,4 +1,4 @@
-using System.Configuration;
+using System.Configuration;
 using XP.Common.Configs;
 using XP.Common.Dump.Configs;
 

XP.Hardware.Detector/bin/Debug/net8.0-windows7.0/XP.Hardware.Detector.deps.json

@@ -1878,7 +1878,10 @@
           "Telerik.UI.for.Wpf.NetCore.Xaml": "2024.1.408"
         },
         "runtime": {
-          "XP.Common.dll": {}
+          "XP.Common.dll": {
+            "assemblyVersion": "1.4.16.1",
+            "fileVersion": "1.4.16.1"
+          }
         },
         "resources": {
           "en-US/XP.Common.resources.dll": {

XP.Hardware.MotionControl/Services/MotionControlService.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Threading;

XP.Hardware.PLC/Abstractions/IPlcClient.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;

XP.Hardware.PLC/Services/PlcService.cs

@@ -1,4 +1,4 @@
-using Prism.Mvvm;
+using Prism.Mvvm;
 using System;
 using System.Collections.Generic;
 using System.Linq;

XP.Hardware.RaySource/Module/RaySourceModule.cs

@@ -1,4 +1,4 @@
-using Prism.Ioc;
+using Prism.Ioc;
 using Prism.Modularity;
 using System.Resources;
 using XP.Common.Localization;

XplorePlane.Tests/Services/InspectionResultStoreTests.cs

@@ -1,340 +0,0 @@
-using Moq;
-using System;
-using System.Collections.Generic;
-using System.IO;
-using System.Linq;
-using System.Text.Json;
-using System.Threading.Tasks;
-using XP.Common.Configs;
-using XP.Common.Database.Implementations;
-using XP.Common.Database.Interfaces;
-using XP.Common.Logging.Interfaces;
-using XplorePlane.Models;
-using XplorePlane.Services.InspectionResults;
-using Xunit;
-
-namespace XplorePlane.Tests.Services
-{
-    public class InspectionResultStoreTests : IDisposable
-    {
-        private readonly string _tempRoot;
-        private readonly Mock<ILoggerService> _mockLogger;
-        private readonly IDbContext _dbContext;
-        private readonly InspectionResultStore _store;
-
-        public InspectionResultStoreTests()
-        {
-            _tempRoot = Path.Combine(Path.GetTempPath(), "XplorePlane.Tests", Guid.NewGuid().ToString("N"));
-            Directory.CreateDirectory(_tempRoot);
-
-            _mockLogger = new Mock<ILoggerService>();
-            _mockLogger.Setup(l => l.ForModule(It.IsAny<string>())).Returns(_mockLogger.Object);
-            _mockLogger.Setup(l => l.ForModule<InspectionResultStore>()).Returns(_mockLogger.Object);
-
-            var sqliteConfig = new SqliteConfig
-            {
-                DbFilePath = Path.Combine(_tempRoot, "inspection-results.db"),
-                CreateIfNotExists = true,
-                EnableWalMode = false,
-                EnableSqlLogging = false
-            };
-
-            _dbContext = new SqliteContext(sqliteConfig, _mockLogger.Object);
-            _store = new InspectionResultStore(_dbContext, _mockLogger.Object, Path.Combine(_tempRoot, "assets"));
-        }
-
-        [Fact]
-        public async Task FullRun_WithTwoNodes_CanRoundTripDetailAndQuery()
-        {
-            var startedAt = new DateTime(2026, 4, 21, 10, 0, 0, DateTimeKind.Utc);
-            var run = new InspectionRunRecord
-            {
-                ProgramName = "NewCncProgram",
-                WorkpieceId = "QFN_1",
-                SerialNumber = "SN-001",
-                StartedAt = startedAt
-            };
-
-            var runSource = CreateTempFile("run-source.bmp", "run-source");
-            await _store.BeginRunAsync(run, new InspectionAssetWriteRequest
-            {
-                AssetType = InspectionAssetType.RunSourceImage,
-                SourceFilePath = runSource,
-                FileFormat = "bmp"
-            });
-
-            var pipelineA = BuildPipeline("Recipe-A", ("GaussianBlur", 0), ("Threshold", 1));
-            var node1Id = Guid.NewGuid();
-            await _store.AppendNodeResultAsync(
-                new InspectionNodeResult
-                {
-                    RunId = run.RunId,
-                    NodeId = node1Id,
-                    NodeIndex = 1,
-                    NodeName = "检测节点1",
-                    PipelineId = pipelineA.Id,
-                    PipelineName = pipelineA.Name,
-                    NodePass = true,
-                    DurationMs = 135
-                },
-                new[]
-                {
-                    new InspectionMetricResult
-                    {
-                        MetricKey = "bridge.rate",
-                        MetricName = "Bridge Rate",
-                        MetricValue = 0.12,
-                        Unit = "%",
-                        UpperLimit = 0.2,
-                        IsPass = true,
-                        DisplayOrder = 1
-                    },
-                    new InspectionMetricResult
-                    {
-                        MetricKey = "void.area",
-                        MetricName = "Void Area",
-                        MetricValue = 5.6,
-                        Unit = "px",
-                        UpperLimit = 8,
-                        IsPass = true,
-                        DisplayOrder = 2
-                    }
-                },
-                new PipelineExecutionSnapshot
-                {
-                    PipelineName = pipelineA.Name,
-                    PipelineDefinitionJson = JsonSerializer.Serialize(pipelineA)
-                },
-                new[]
-                {
-                    new InspectionAssetWriteRequest
-                    {
-                        AssetType = InspectionAssetType.NodeInputImage,
-                        SourceFilePath = CreateTempFile("node1-input.bmp", "node1-input"),
-                        FileFormat = "bmp"
-                    },
-                    new InspectionAssetWriteRequest
-                    {
-                        AssetType = InspectionAssetType.NodeResultImage,
-                        SourceFilePath = CreateTempFile("node1-result.bmp", "node1-result"),
-                        FileFormat = "bmp"
-                    }
-                });
-
-            var pipelineB = BuildPipeline("Recipe-B", ("MeanFilter", 0), ("ContourDetection", 1));
-            var node2Id = Guid.NewGuid();
-            await _store.AppendNodeResultAsync(
-                new InspectionNodeResult
-                {
-                    RunId = run.RunId,
-                    NodeId = node2Id,
-                    NodeIndex = 2,
-                    NodeName = "检测节点2",
-                    PipelineId = pipelineB.Id,
-                    PipelineName = pipelineB.Name,
-                    NodePass = false,
-                    Status = InspectionNodeStatus.Failed,
-                    DurationMs = 240
-                },
-                new[]
-                {
-                    new InspectionMetricResult
-                    {
-                        MetricKey = "solder.height",
-                        MetricName = "Solder Height",
-                        MetricValue = 1.7,
-                        Unit = "mm",
-                        LowerLimit = 1.8,
-                        IsPass = false,
-                        DisplayOrder = 1
-                    }
-                },
-                new PipelineExecutionSnapshot
-                {
-                    PipelineName = pipelineB.Name,
-                    PipelineDefinitionJson = JsonSerializer.Serialize(pipelineB)
-                },
-                new[]
-                {
-                    new InspectionAssetWriteRequest
-                    {
-                        AssetType = InspectionAssetType.NodeResultImage,
-                        SourceFilePath = CreateTempFile("node2-result.bmp", "node2-result"),
-                        FileFormat = "bmp"
-                    }
-                });
-
-            await _store.CompleteRunAsync(run.RunId);
-
-            var queried = await _store.QueryRunsAsync(new InspectionRunQuery
-            {
-                ProgramName = "NewCncProgram",
-                WorkpieceId = "QFN_1",
-                PipelineName = "Recipe-A"
-            });
-
-            var detail = await _store.GetRunDetailAsync(run.RunId);
-
-            Assert.Single(queried);
-            Assert.Equal(run.RunId, queried[0].RunId);
-            Assert.False(detail.Run.OverallPass);
-            Assert.Equal(2, detail.Run.NodeCount);
-            Assert.Equal(2, detail.Nodes.Count);
-            Assert.Equal(3, detail.Metrics.Count);
-            Assert.Equal(4, detail.Assets.Count);
-            Assert.Equal(2, detail.PipelineSnapshots.Count);
-            Assert.Contains(detail.Nodes, n => n.NodeId == node1Id && n.NodePass);
-            Assert.Contains(detail.Nodes, n => n.NodeId == node2Id && !n.NodePass);
-            Assert.All(detail.PipelineSnapshots, snapshot => Assert.False(string.IsNullOrWhiteSpace(snapshot.PipelineHash)));
-
-            var manifestPath = Path.Combine(_tempRoot, "assets", detail.Run.ResultRootPath.Replace('/', Path.DirectorySeparatorChar), "manifest.json");
-            Assert.True(File.Exists(manifestPath));
-        }
-
-        [Fact]
-        public async Task AppendNodeResult_MissingAsset_DoesNotCrashAndMarksAssetMissing()
-        {
-            var run = new InspectionRunRecord
-            {
-                ProgramName = "Program-A",
-                WorkpieceId = "Part-01",
-                SerialNumber = "SN-404"
-            };
-
-            await _store.BeginRunAsync(run);
-
-            var nodeId = Guid.NewGuid();
-            await _store.AppendNodeResultAsync(
-                new InspectionNodeResult
-                {
-                    RunId = run.RunId,
-                    NodeId = nodeId,
-                    NodeIndex = 1,
-                    NodeName = "缺图节点",
-                    PipelineId = Guid.NewGuid(),
-                    PipelineName = "Recipe-Missing",
-                    NodePass = true
-                },
-                new[]
-                {
-                    new InspectionMetricResult
-                    {
-                        MetricKey = "metric.only",
-                        MetricName = "Metric Only",
-                        MetricValue = 1,
-                        Unit = "pcs",
-                        IsPass = true,
-                        DisplayOrder = 1
-                    }
-                },
-                new PipelineExecutionSnapshot
-                {
-                    PipelineName = "Recipe-Missing",
-                    PipelineDefinitionJson = "{\"nodes\":[\"gaussian\"]}"
-                },
-                new[]
-                {
-                    new InspectionAssetWriteRequest
-                    {
-                        AssetType = InspectionAssetType.NodeResultImage,
-                        SourceFilePath = Path.Combine(_tempRoot, "missing-file.bmp"),
-                        FileFormat = "bmp"
-                    }
-                });
-
-            var detail = await _store.GetRunDetailAsync(run.RunId);
-            var node = Assert.Single(detail.Nodes);
-
-            Assert.Equal(InspectionNodeStatus.AssetMissing, node.Status);
-            Assert.Single(detail.Metrics);
-            Assert.Empty(detail.Assets);
-        }
-
-        [Fact]
-        public async Task PipelineSnapshot_IsStoredAsExecutionSnapshot_NotDependentOnLaterChanges()
-        {
-            var run = new InspectionRunRecord
-            {
-                ProgramName = "Program-Snapshot",
-                WorkpieceId = "Part-02",
-                SerialNumber = "SN-SNAP"
-            };
-
-            await _store.BeginRunAsync(run);
-
-            var pipeline = BuildPipeline("Recipe-Snapshot", ("GaussianBlur", 0), ("ContourDetection", 1));
-            var snapshotJson = JsonSerializer.Serialize(pipeline);
-            var originalHash = ComputeExpectedHash(snapshotJson);
-
-            await _store.AppendNodeResultAsync(
-                new InspectionNodeResult
-                {
-                    RunId = run.RunId,
-                    NodeId = Guid.NewGuid(),
-                    NodeIndex = 1,
-                    NodeName = "快照节点",
-                    PipelineId = pipeline.Id,
-                    PipelineName = pipeline.Name,
-                    NodePass = true
-                },
-                pipelineSnapshot: new PipelineExecutionSnapshot
-                {
-                    PipelineName = pipeline.Name,
-                    PipelineDefinitionJson = snapshotJson
-                });
-
-            pipeline.Name = "Recipe-Snapshot-Changed";
-            pipeline.Nodes[0].OperatorKey = "MeanFilter";
-
-            var detail = await _store.GetRunDetailAsync(run.RunId);
-            var snapshot = Assert.Single(detail.PipelineSnapshots);
-
-            Assert.Equal("Recipe-Snapshot", snapshot.PipelineName);
-            Assert.Equal(snapshotJson, snapshot.PipelineDefinitionJson);
-            Assert.Equal(originalHash, snapshot.PipelineHash);
-        }
-
-        public void Dispose()
-        {
-            _dbContext.Dispose();
-            if (Directory.Exists(_tempRoot))
-            {
-                try
-                {
-                    Directory.Delete(_tempRoot, true);
-                }
-                catch (IOException)
-                {
-                    // SQLite file handles may release slightly after test teardown.
-                }
-            }
-        }
-
-        private string CreateTempFile(string fileName, string content)
-        {
-            var path = Path.Combine(_tempRoot, fileName);
-            File.WriteAllText(path, content);
-            return path;
-        }
-
-        private static PipelineModel BuildPipeline(string name, params (string OperatorKey, int Order)[] nodes)
-        {
-            return new PipelineModel
-            {
-                Name = name,
-                Nodes = nodes.Select(node => new PipelineNodeModel
-                {
-                    OperatorKey = node.OperatorKey,
-                    Order = node.Order
-                }).ToList()
-            };
-        }
-
-        private static string ComputeExpectedHash(string value)
-        {
-            using var sha = System.Security.Cryptography.SHA256.Create();
-            var bytes = System.Text.Encoding.UTF8.GetBytes(value);
-            return Convert.ToHexString(sha.ComputeHash(bytes));
-        }
-    }
-}

XplorePlane.Tests/XplorePlane.Tests.csproj

@@ -34,4 +34,11 @@
     <ProjectReference Include="..\XplorePlane\XplorePlane.csproj" />
   </ItemGroup>
 
+  <ItemGroup>
+    <Reference Include="ImageProcessing.Core">
+      <HintPath>..\XplorePlane\Libs\ImageProcessing\ImageProcessing.Core.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
+  </ItemGroup>
+
 </Project>

XplorePlane/App.xaml.cs

@@ -13,6 +13,7 @@ using XP.Camera;
 using XP.Common.Configs;
 using XP.Common.Database.Implementations;
 using XP.Common.Database.Interfaces;
+using XP.Common.GeneralForm.Views;
 using XP.Common.Dump.Configs;
 using XP.Common.Dump.Implementations;
 using XP.Common.Dump.Interfaces;
@@ -36,7 +37,6 @@ using XplorePlane.Services.Camera;
 using XplorePlane.Services.Cnc;
 using XplorePlane.Services.Matrix;
 using XplorePlane.Services.Measurement;
-using XplorePlane.Services.InspectionResults;
 using XplorePlane.Services.Recipe;
 using XplorePlane.ViewModels;
 using XplorePlane.ViewModels.Cnc;
@@ -150,7 +150,23 @@ namespace XplorePlane
                 Log.Error(ex, "射线源资源释放失败");
             }
 
-            // 释放相机服务资源
+            // 先停止导航相机实时采集，再释放资源，避免回调死锁
+            try
+            {
+                var bootstrapper = AppBootstrapper.Instance;
+                if (bootstrapper != null)
+                {
+                    var cameraVm = bootstrapper.Container.Resolve<NavigationPropertyPanelViewModel>();
+                    cameraVm?.Dispose();
+                    Log.Information("导航相机 ViewModel 已释放");
+                }
+            }
+            catch (Exception ex)
+            {
+                Log.Error(ex, "导航相机 ViewModel 释放失败");
+            }
+
+            // 释放导航相机服务资源
             try
             {
                 var bootstrapper = AppBootstrapper.Instance;
@@ -158,12 +174,12 @@ namespace XplorePlane
                 {
                     var cameraService = bootstrapper.Container.Resolve<ICameraService>();
                     cameraService?.Dispose();
-                    Log.Information("相机服务资源已释放");
+                    Log.Information("导航相机服务资源已释放");
                 }
             }
             catch (Exception ex)
             {
-                Log.Error(ex, "相机服务资源释放失败");
+                Log.Error(ex, "导航相机服务资源释放失败");
             }
 
 			// 释放SQLite数据库资源 | Release SQLite database resources
@@ -232,19 +248,67 @@ namespace XplorePlane
 
         private bool _modulesInitialized = false;
 
+        private string? _cameraError;
+
         protected override Window CreateShell()
         {
             // 提前初始化模块，确保硬件服务在 MainWindow XAML 解析前已注册
-            // 默认 Prism 顺序是 CreateShell → InitializeModules，
-            // 但 MainWindow 中嵌入的硬件控件会在 XAML 解析时触发 ViewModelLocator，
-            // 此时模块尚未加载，导致依赖解析失败
             if (!_modulesInitialized)
             {
                 base.InitializeModules();
                 _modulesInitialized = true;
             }
 
-            return Container.Resolve<MainWindow>();
+            var shell = Container.Resolve<MainWindow>();
+
+            // 主窗口加载完成后再连接相机，确保所有模块和原生 DLL 已完成初始化
+            shell.Loaded += (s, e) =>
+            {
+                TryConnectCamera();
+
+                // 通知 ViewModel 相机状态已确定，启动实时预览或显示错误
+                try
+                {
+                    var cameraVm = Container.Resolve<NavigationPropertyPanelViewModel>();
+                    cameraVm.OnCameraReady();
+                }
+                catch (Exception ex)
+                {
+                    Log.Error(ex, "通知相机 ViewModel 失败");
+                }
+
+                if (_cameraError != null)
+                {
+                    HexMessageBox.Show(_cameraError, MessageBoxButton.OK, MessageBoxImage.Error);
+                }
+            };
+
+            return shell;
+        }
+
+        /// <summary>
+        /// 在主线程上检索并连接导航相机。
+        /// pylon SDK 要求在主线程（STA）上操作，不能放到后台线程。
+        /// </summary>
+        private void TryConnectCamera()
+        {
+            var camera = Container.Resolve<ICameraController>();
+
+            try
+            {
+                var info = camera.Open();
+                Log.Information("导航相机已连接: {ModelName} (SN: {SerialNumber})", info.ModelName, info.SerialNumber);
+            }
+            catch (DeviceNotFoundException)
+            {
+                Log.Warning("未检测到导航相机");
+                _cameraError = "未检测到导航相机，请检查连接后重启软件。";
+            }
+            catch (Exception ex)
+            {
+                Log.Warning(ex, "导航相机自动连接失败: {Message}", ex.Message);
+                _cameraError = $"导航相机连接失败: {ex.Message}";
+            }
         }
 
         /// <summary>
@@ -318,7 +382,6 @@ namespace XplorePlane
             containerRegistry.RegisterSingleton<ICncProgramService, CncProgramService>();
             containerRegistry.RegisterSingleton<IMatrixService, MatrixService>();
             containerRegistry.RegisterSingleton<IMeasurementDataService, MeasurementDataService>();
-            containerRegistry.RegisterSingleton<IInspectionResultStore, InspectionResultStore>();
 
             // ── CNC / 矩阵 ViewModel（瞬态）──
             containerRegistry.Register<CncEditorViewModel>();
@@ -329,7 +392,7 @@ namespace XplorePlane
             containerRegistry.RegisterForNavigation<CncPageView>();
             containerRegistry.RegisterForNavigation<MatrixPageView>();
 
-            // ── 相机服务（单例）──
+            // ── 导航相机服务（单例）──
             containerRegistry.RegisterSingleton<ICameraFactory, CameraFactory>();
             containerRegistry.RegisterSingleton<ICameraController>(() =>
                 new CameraFactory().CreateController("Basler"));
@@ -356,4 +419,4 @@ namespace XplorePlane
             base.ConfigureModuleCatalog(moduleCatalog);
         }
     }
-}
+}

XplorePlane/Models/CncModels.cs

@@ -46,8 +46,7 @@ namespace XplorePlane.Models
     /// <summary>参考点节点 | Reference point node</summary>
     public record ReferencePointNode(
         Guid Id, int Index, string Name,
-        double XM, double YM, double ZT, double ZD, double TiltD, double Dist,
+        double XM, double YM, double ZT, double ZD, double TiltD, double Dist
-        bool IsRayOn, double Voltage, double Current
     ) : CncNode(Id, Index, CncNodeType.ReferencePoint, Name);
 
     /// <summary>保存节点（含图像）| Save node with image</summary>
@@ -114,4 +113,4 @@ namespace XplorePlane.Models
         DateTime UpdatedAt,
         IReadOnlyList<CncNode> Nodes
     );
-}
+}

XplorePlane/Models/InspectionResultModels.cs

@@ -1,116 +0,0 @@
-using System;
-using System.Collections.Generic;
-
-namespace XplorePlane.Models
-{
-    public enum InspectionAssetType
-    {
-        RunSourceImage,
-        NodeInputImage,
-        NodeResultImage
-    }
-
-    public enum InspectionNodeStatus
-    {
-        Succeeded,
-        Failed,
-        PartialSuccess,
-        AssetMissing
-    }
-
-    public class InspectionRunRecord
-    {
-        public Guid RunId { get; set; } = Guid.NewGuid();
-        public string ProgramName { get; set; } = string.Empty;
-        public string WorkpieceId { get; set; } = string.Empty;
-        public string SerialNumber { get; set; } = string.Empty;
-        public DateTime StartedAt { get; set; } = DateTime.UtcNow;
-        public DateTime? CompletedAt { get; set; }
-        public bool OverallPass { get; set; }
-        public string SourceImagePath { get; set; } = string.Empty;
-        public string ResultRootPath { get; set; } = string.Empty;
-        public int NodeCount { get; set; }
-    }
-
-    public class InspectionNodeResult
-    {
-        public Guid RunId { get; set; }
-        public Guid NodeId { get; set; } = Guid.NewGuid();
-        public int NodeIndex { get; set; }
-        public string NodeName { get; set; } = string.Empty;
-        public Guid PipelineId { get; set; }
-        public string PipelineName { get; set; } = string.Empty;
-        public string PipelineVersionHash { get; set; } = string.Empty;
-        public bool NodePass { get; set; }
-        public string SourceImagePath { get; set; } = string.Empty;
-        public string ResultImagePath { get; set; } = string.Empty;
-        public InspectionNodeStatus Status { get; set; } = InspectionNodeStatus.Succeeded;
-        public long DurationMs { get; set; }
-    }
-
-    public class InspectionMetricResult
-    {
-        public Guid RunId { get; set; }
-        public Guid NodeId { get; set; }
-        public string MetricKey { get; set; } = string.Empty;
-        public string MetricName { get; set; } = string.Empty;
-        public double MetricValue { get; set; }
-        public string Unit { get; set; } = string.Empty;
-        public double? LowerLimit { get; set; }
-        public double? UpperLimit { get; set; }
-        public bool IsPass { get; set; }
-        public int DisplayOrder { get; set; }
-    }
-
-    public class InspectionAssetRecord
-    {
-        public Guid RunId { get; set; }
-        public Guid? NodeId { get; set; }
-        public InspectionAssetType AssetType { get; set; }
-        public string RelativePath { get; set; } = string.Empty;
-        public string FileFormat { get; set; } = string.Empty;
-        public int Width { get; set; }
-        public int Height { get; set; }
-    }
-
-    public class PipelineExecutionSnapshot
-    {
-        public Guid RunId { get; set; }
-        public Guid NodeId { get; set; }
-        public string PipelineName { get; set; } = string.Empty;
-        public string PipelineDefinitionJson { get; set; } = string.Empty;
-        public string PipelineHash { get; set; } = string.Empty;
-    }
-
-    public class InspectionAssetWriteRequest
-    {
-        public InspectionAssetType AssetType { get; set; }
-        public string FileName { get; set; } = string.Empty;
-        public string SourceFilePath { get; set; } = string.Empty;
-        public byte[] Content { get; set; }
-        public string FileFormat { get; set; } = string.Empty;
-        public int Width { get; set; }
-        public int Height { get; set; }
-    }
-
-    public class InspectionRunQuery
-    {
-        public string ProgramName { get; set; } = string.Empty;
-        public string WorkpieceId { get; set; } = string.Empty;
-        public string SerialNumber { get; set; } = string.Empty;
-        public string PipelineName { get; set; } = string.Empty;
-        public DateTime? From { get; set; }
-        public DateTime? To { get; set; }
-        public int? Skip { get; set; }
-        public int? Take { get; set; }
-    }
-
-    public class InspectionRunDetail
-    {
-        public InspectionRunRecord Run { get; set; } = new();
-        public IReadOnlyList<InspectionNodeResult> Nodes { get; set; } = Array.Empty<InspectionNodeResult>();
-        public IReadOnlyList<InspectionMetricResult> Metrics { get; set; } = Array.Empty<InspectionMetricResult>();
-        public IReadOnlyList<InspectionAssetRecord> Assets { get; set; } = Array.Empty<InspectionAssetRecord>();
-        public IReadOnlyList<PipelineExecutionSnapshot> PipelineSnapshots { get; set; } = Array.Empty<PipelineExecutionSnapshot>();
-    }
-}

XplorePlane/Services/Cnc/CncProgramService.cs

@@ -6,7 +6,6 @@ using System.Text.Json;
 using System.Text.Json.Serialization;
 using System.Threading.Tasks;
 using XP.Common.Logging.Interfaces;
-using XP.Hardware.RaySource.Services;
 using XplorePlane.Models;
 using XplorePlane.Services.AppState;
 
@@ -21,7 +20,6 @@ namespace XplorePlane.Services.Cnc
     public class CncProgramService : ICncProgramService
     {
         private readonly IAppStateService _appStateService;
-        private readonly IRaySourceService _raySourceService;
         private readonly ILoggerService _logger;
 
         // ── 序列化配置 | Serialization options ──
@@ -34,15 +32,12 @@ namespace XplorePlane.Services.Cnc
 
         public CncProgramService(
             IAppStateService appStateService,
-            IRaySourceService raySourceService,
             ILoggerService logger)
         {
             ArgumentNullException.ThrowIfNull(appStateService);
-            ArgumentNullException.ThrowIfNull(raySourceService);
             ArgumentNullException.ThrowIfNull(logger);
 
             _appStateService = appStateService;
-            _raySourceService = raySourceService;
             _logger = logger.ForModule<CncProgramService>();
 
             _logger.Info("CncProgramService 已初始化 | CncProgramService initialized");
@@ -205,32 +200,6 @@ namespace XplorePlane.Services.Cnc
             return updated;
         }
 
-        /// <inheritdoc />
-        public CncProgram UpdateNode(CncProgram program, int index, CncNode node)
-        {
-            ArgumentNullException.ThrowIfNull(program);
-            ArgumentNullException.ThrowIfNull(node);
-
-            if (index < 0 || index >= program.Nodes.Count)
-                throw new ArgumentOutOfRangeException(nameof(index),
-                    $"Index out of range: {index}, Count={program.Nodes.Count}");
-
-            var nodes = new List<CncNode>(program.Nodes)
-            {
-                [index] = node with { Index = index }
-            };
-
-            var updated = program with
-            {
-                Nodes = nodes.AsReadOnly(),
-                UpdatedAt = DateTime.UtcNow
-            };
-
-            _logger.Info("Updated node: Index={Index}, Type={NodeType}, Program={ProgramName}",
-                index, node.NodeType, program.Name);
-            return updated;
-        }
-
         /// <inheritdoc />
         public async Task SaveAsync(CncProgram program, string filePath)
         {
@@ -375,7 +344,6 @@ namespace XplorePlane.Services.Cnc
         private ReferencePointNode CreateReferencePointNode(Guid id, int index)
         {
             var motion = _appStateService.MotionState;
-            var raySource = _appStateService.RaySourceState;
             return new ReferencePointNode(
                 id, index, $"参考点_{index}",
                 XM: motion.XM,
@@ -383,10 +351,7 @@ namespace XplorePlane.Services.Cnc
                 ZT: motion.ZT,
                 ZD: motion.ZD,
                 TiltD: motion.TiltD,
-                Dist: motion.Dist,
+                Dist: motion.Dist);
-                IsRayOn: raySource.IsOn,
-                Voltage: raySource.Voltage,
-                Current: TryReadCurrent());
         }
 
         /// <summary>创建保存节点（含图像）| Create save node with image</summary>
@@ -417,24 +382,5 @@ namespace XplorePlane.Services.Cnc
                 id, index, $"保存位置_{index}",
                 MotionState: _appStateService.MotionState);
         }
-        private double TryReadCurrent()
-        {
-            try
-            {
-                var result = _raySourceService.ReadCurrent();
-                if (result?.Success == true)
-                {
-                    return result.GetFloat();
-                }
-
-                _logger.Warn("Failed to read ray source current, ReferencePoint node will use 0");
-            }
-            catch (Exception ex)
-            {
-                _logger.Warn("Failed to read ray source current: {Message}", ex.Message);
-            }
-
-            return 0d;
-        }
     }
-}
+}

XplorePlane/Services/Cnc/ICncProgramService.cs

@@ -4,28 +4,36 @@ using XplorePlane.Models;
 namespace XplorePlane.Services.Cnc
 {
     /// <summary>
-    /// CNC program management service interface.
+    /// CNC 程序管理服务接口，负责程序的创建、节点编辑、序列化/反序列化和文件读写
+    /// CNC program management service interface for creation, node editing, serialization and file I/O
     /// </summary>
     public interface ICncProgramService
     {
+        /// <summary>创建空的 CNC 程序 | Create an empty CNC program</summary>
         CncProgram CreateProgram(string name);
 
+        /// <summary>根据节点类型创建节点（从 IAppStateService 捕获设备状态）| Create a node by type (captures device state from IAppStateService)</summary>
         CncNode CreateNode(CncNodeType type);
 
+        /// <summary>在指定索引之后插入节点并重新编号 | Insert a node after the given index and renumber</summary>
         CncProgram InsertNode(CncProgram program, int afterIndex, CncNode node);
 
+        /// <summary>移除指定索引的节点并重新编号 | Remove the node at the given index and renumber</summary>
         CncProgram RemoveNode(CncProgram program, int index);
 
+        /// <summary>将节点从旧索引移动到新索引并重新编号 | Move a node from old index to new index and renumber</summary>
         CncProgram MoveNode(CncProgram program, int oldIndex, int newIndex);
 
-        CncProgram UpdateNode(CncProgram program, int index, CncNode node);
+        /// <summary>将 CNC 程序保存到 .xp 文件 | Save CNC program to .xp file</summary>
-
         Task SaveAsync(CncProgram program, string filePath);
 
+        /// <summary>从 .xp 文件加载 CNC 程序 | Load CNC program from .xp file</summary>
         Task<CncProgram> LoadAsync(string filePath);
 
+        /// <summary>将 CNC 程序序列化为 JSON 字符串 | Serialize CNC program to JSON string</summary>
         string Serialize(CncProgram program);
 
+        /// <summary>从 JSON 字符串反序列化 CNC 程序 | Deserialize CNC program from JSON string</summary>
         CncProgram Deserialize(string json);
     }
-}
+}

XplorePlane/Services/ImageProcessing/ImageConverter.cs

@@ -28,11 +28,11 @@ namespace XplorePlane.Services
             var formatted = new FormatConvertedBitmap(bitmapSource, PixelFormats.Gray8, null, 0);
             int width = formatted.PixelWidth;
             int height = formatted.PixelHeight;
-            int stride = width;
-            byte[] pixels = new byte[height * stride];
-            formatted.CopyPixels(pixels, stride, 0);
 
             var image = new Image<Gray, byte>(width, height);
+            int stride = image.Bytes.Length / height;
+            var pixels = new byte[height * stride];
+            formatted.CopyPixels(pixels, stride, 0);
             image.Bytes = pixels;
             return image;
         }
@@ -40,7 +40,19 @@ namespace XplorePlane.Services
         public static Image<Gray, byte> ToEmguCVFromPixels(byte[] pixels, int width, int height)
         {
             var image = new Image<Gray, byte>(width, height);
-            image.Bytes = pixels;
+            int required = image.Bytes.Length;
+            if (pixels.Length == required)
+            {
+                image.Bytes = pixels;
+            }
+            else
+            {
+                int stride = required / height;
+                var padded = new byte[required];
+                for (int row = 0; row < height; row++)
+                    Buffer.BlockCopy(pixels, row * width, padded, row * stride, width);
+                image.Bytes = padded;
+            }
             return image;
         }
 
@@ -50,8 +62,8 @@ namespace XplorePlane.Services
 
             int width = emguImage.Width;
             int height = emguImage.Height;
-            int stride = width;
             byte[] pixels = emguImage.Bytes;
+            int stride = pixels.Length / height;
 
             return BitmapSource.Create(width, height, 96, 96, PixelFormats.Gray8, null, pixels, stride);
         }

XplorePlane/Services/InspectionResults/IInspectionResultStore.cs

@@ -1,24 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Threading.Tasks;
-using XplorePlane.Models;
-
-namespace XplorePlane.Services.InspectionResults
-{
-    public interface IInspectionResultStore
-    {
-        Task BeginRunAsync(InspectionRunRecord runRecord, InspectionAssetWriteRequest runSourceAsset = null);
-
-        Task AppendNodeResultAsync(
-            InspectionNodeResult nodeResult,
-            IEnumerable<InspectionMetricResult> metrics = null,
-            PipelineExecutionSnapshot pipelineSnapshot = null,
-            IEnumerable<InspectionAssetWriteRequest> assets = null);
-
-        Task CompleteRunAsync(Guid runId, bool? overallPass = null, DateTime? completedAt = null);
-
-        Task<IReadOnlyList<InspectionRunRecord>> QueryRunsAsync(InspectionRunQuery query = null);
-
-        Task<InspectionRunDetail> GetRunDetailAsync(Guid runId);
-    }
-}

XplorePlane/ViewModels/Cnc/CncEditorViewModel.cs

@@ -3,7 +3,6 @@ using Prism.Commands;
 using Prism.Events;
 using Prism.Mvvm;
 using System;
-using System.Collections.Generic;
 using System.Collections.ObjectModel;
 using System.Globalization;
 using System.IO;
@@ -19,21 +18,27 @@ using XplorePlane.Services.Cnc;
 namespace XplorePlane.ViewModels.Cnc
 {
     /// <summary>
-    /// CNC editor ViewModel that manages the node tree, editing operations and file operations.
+    /// CNC 编辑器 ViewModel，管理 CNC 程序的节点列表、编辑操作和文件操作
+    /// CNC editor ViewModel that manages the node list, editing operations and file operations
     /// </summary>
     public class CncEditorViewModel : BindableBase
     {
         private readonly ICncProgramService _cncProgramService;
+        private readonly IAppStateService _appStateService;
         private readonly IEventAggregator _eventAggregator;
         private readonly ILoggerService _logger;
 
+        // 当前 CNC 程序 | Current CNC program
         private CncProgram _currentProgram;
+
         private ObservableCollection<CncNodeViewModel> _nodes;
-        private ObservableCollection<CncNodeViewModel> _treeNodes;
         private CncNodeViewModel _selectedNode;
         private bool _isModified;
         private string _programName;
 
+        /// <summary>
+        /// 构造函数 | Constructor
+        /// </summary>
         public CncEditorViewModel(
             ICncProgramService cncProgramService,
             IAppStateService appStateService,
@@ -41,13 +46,13 @@ namespace XplorePlane.ViewModels.Cnc
             ILoggerService logger)
         {
             _cncProgramService = cncProgramService ?? throw new ArgumentNullException(nameof(cncProgramService));
-            ArgumentNullException.ThrowIfNull(appStateService);
+            _appStateService = appStateService ?? throw new ArgumentNullException(nameof(appStateService));
             _eventAggregator = eventAggregator ?? throw new ArgumentNullException(nameof(eventAggregator));
             _logger = (logger ?? throw new ArgumentNullException(nameof(logger))).ForModule<CncEditorViewModel>();
 
             _nodes = new ObservableCollection<CncNodeViewModel>();
-            _treeNodes = new ObservableCollection<CncNodeViewModel>();
 
+            // ── 节点插入命令 | Node insertion commands ──
             InsertReferencePointCommand = new DelegateCommand(() => ExecuteInsertNode(CncNodeType.ReferencePoint));
             InsertSaveNodeWithImageCommand = new DelegateCommand(() => ExecuteInsertNode(CncNodeType.SaveNodeWithImage));
             InsertSaveNodeCommand = new DelegateCommand(() => ExecuteInsertNode(CncNodeType.SaveNode));
@@ -58,79 +63,117 @@ namespace XplorePlane.ViewModels.Cnc
             InsertWaitDelayCommand = new DelegateCommand(() => ExecuteInsertNode(CncNodeType.WaitDelay));
             InsertCompleteProgramCommand = new DelegateCommand(() => ExecuteInsertNode(CncNodeType.CompleteProgram));
 
+            // ── 节点编辑命令 | Node editing commands ──
             DeleteNodeCommand = new DelegateCommand(ExecuteDeleteNode, CanExecuteDeleteNode)
                 .ObservesProperty(() => SelectedNode);
             MoveNodeUpCommand = new DelegateCommand<CncNodeViewModel>(ExecuteMoveNodeUp);
             MoveNodeDownCommand = new DelegateCommand<CncNodeViewModel>(ExecuteMoveNodeDown);
 
+            // ── 文件操作命令 | File operation commands ──
             SaveProgramCommand = new DelegateCommand(async () => await ExecuteSaveProgramAsync());
             LoadProgramCommand = new DelegateCommand(async () => await ExecuteLoadProgramAsync());
             NewProgramCommand = new DelegateCommand(ExecuteNewProgram);
             ExportCsvCommand = new DelegateCommand(ExecuteExportCsv);
 
-            _logger.Info("CncEditorViewModel initialized");
+            _logger.Info("CncEditorViewModel 已初始化 | CncEditorViewModel initialized");
         }
 
+        // ── 属性 | Properties ──────────────────────────────────────────
+
+        /// <summary>节点列表 | Node list</summary>
         public ObservableCollection<CncNodeViewModel> Nodes
         {
             get => _nodes;
-            private set => SetProperty(ref _nodes, value);
+            set => SetProperty(ref _nodes, value);
-        }
-
-        public ObservableCollection<CncNodeViewModel> TreeNodes
-        {
-            get => _treeNodes;
-            private set => SetProperty(ref _treeNodes, value);
         }
 
+        /// <summary>当前选中的节点 | Currently selected node</summary>
         public CncNodeViewModel SelectedNode
         {
             get => _selectedNode;
-            set
+            set => SetProperty(ref _selectedNode, value);
-            {
-                if (SetProperty(ref _selectedNode, value))
-                {
-                    RaisePropertyChanged(nameof(HasSelection));
-                }
-            }
         }
 
-        public bool HasSelection => SelectedNode != null;
+        /// <summary>程序是否已修改 | Whether the program has been modified</summary>
-
         public bool IsModified
         {
             get => _isModified;
             set => SetProperty(ref _isModified, value);
         }
 
+        /// <summary>当前程序名称 | Current program name</summary>
         public string ProgramName
         {
             get => _programName;
             set => SetProperty(ref _programName, value);
         }
 
+        // ── 节点插入命令 | Node insertion commands ──────────────────────
+
+        /// <summary>插入参考点命令 | Insert reference point command</summary>
         public DelegateCommand InsertReferencePointCommand { get; }
+
+        /// <summary>插入保存节点（含图像）命令 | Insert save node with image command</summary>
         public DelegateCommand InsertSaveNodeWithImageCommand { get; }
+
+        /// <summary>插入保存节点命令 | Insert save node command</summary>
         public DelegateCommand InsertSaveNodeCommand { get; }
+
+        /// <summary>插入保存位置命令 | Insert save position command</summary>
         public DelegateCommand InsertSavePositionCommand { get; }
+
+        /// <summary>插入检测模块命令 | Insert inspection module command</summary>
         public DelegateCommand InsertInspectionModuleCommand { get; }
+
+        /// <summary>插入检测标记命令 | Insert inspection marker command</summary>
         public DelegateCommand InsertInspectionMarkerCommand { get; }
+
+        /// <summary>插入停顿对话框命令 | Insert pause dialog command</summary>
         public DelegateCommand InsertPauseDialogCommand { get; }
+
+        /// <summary>插入等待延时命令 | Insert wait delay command</summary>
         public DelegateCommand InsertWaitDelayCommand { get; }
+
+        /// <summary>插入完成程序命令 | Insert complete program command</summary>
         public DelegateCommand InsertCompleteProgramCommand { get; }
+
+        // ── 节点编辑命令 | Node editing commands ────────────────────────
+
+        /// <summary>删除选中节点命令 | Delete selected node command</summary>
         public DelegateCommand DeleteNodeCommand { get; }
+
+        /// <summary>上移节点命令 | Move node up command</summary>
         public DelegateCommand<CncNodeViewModel> MoveNodeUpCommand { get; }
+
+        /// <summary>下移节点命令 | Move node down command</summary>
         public DelegateCommand<CncNodeViewModel> MoveNodeDownCommand { get; }
+
+        // ── 文件操作命令 | File operation commands ──────────────────────
+
+        /// <summary>保存程序命令 | Save program command</summary>
         public DelegateCommand SaveProgramCommand { get; }
+
+        /// <summary>加载程序命令 | Load program command</summary>
         public DelegateCommand LoadProgramCommand { get; }
+
+        /// <summary>新建程序命令 | New program command</summary>
         public DelegateCommand NewProgramCommand { get; }
+
+        /// <summary>导出 CSV 命令 | Export CSV command</summary>
         public DelegateCommand ExportCsvCommand { get; }
 
+        // ── 命令执行方法 | Command execution methods ────────────────────
+
+        /// <summary>
+        /// 插入指定类型的节点到选中节点之后
+        /// Insert a node of the specified type after the selected node
+        /// </summary>
         private void ExecuteInsertNode(CncNodeType nodeType)
         {
             if (_currentProgram == null)
             {
-                ExecuteNewProgram();
+                _logger.Warn("无法插入节点：当前无程序 | Cannot insert node: no current program");
+                return;
             }
 
             try
@@ -140,14 +183,18 @@ namespace XplorePlane.ViewModels.Cnc
                 _currentProgram = _cncProgramService.InsertNode(_currentProgram, afterIndex, node);
 
                 OnProgramEdited();
-                _logger.Info("Inserted node: Type={NodeType}", nodeType);
+                _logger.Info("已插入节点 | Inserted node: Type={NodeType}", nodeType);
             }
             catch (InvalidOperationException ex)
             {
-                _logger.Warn("Node insertion blocked: {Message}", ex.Message);
+                // 重复插入 CompleteProgram 等业务规则异常 | Business rule exceptions like duplicate CompleteProgram
+                _logger.Warn("插入节点被阻止 | Node insertion blocked: {Message}", ex.Message);
             }
         }
 
+        /// <summary>
+        /// 删除选中节点 | Delete the selected node
+        /// </summary>
         private void ExecuteDeleteNode()
         {
             if (_currentProgram == null || SelectedNode == null)
@@ -157,14 +204,18 @@ namespace XplorePlane.ViewModels.Cnc
             {
                 _currentProgram = _cncProgramService.RemoveNode(_currentProgram, SelectedNode.Index);
                 OnProgramEdited();
-                _logger.Info("Deleted node at index: {Index}", SelectedNode.Index);
+                _logger.Info("已删除节点 | Deleted node at index: {Index}", SelectedNode.Index);
             }
             catch (ArgumentOutOfRangeException ex)
             {
-                _logger.Warn("Delete node failed: {Message}", ex.Message);
+                _logger.Warn("删除节点失败 | Delete node failed: {Message}", ex.Message);
             }
         }
 
+        /// <summary>
+        /// 判断是否可以删除节点（至少保留 1 个节点）
+        /// Determines whether delete is allowed (at least 1 node must remain)
+        /// </summary>
         private bool CanExecuteDeleteNode()
         {
             return SelectedNode != null
@@ -172,6 +223,9 @@ namespace XplorePlane.ViewModels.Cnc
                 && _currentProgram.Nodes.Count > 1;
         }
 
+        /// <summary>
+        /// 上移节点 | Move node up
+        /// </summary>
         private void ExecuteMoveNodeUp(CncNodeViewModel nodeVm)
         {
             if (_currentProgram == null || nodeVm == null || nodeVm.Index <= 0)
@@ -181,13 +235,17 @@ namespace XplorePlane.ViewModels.Cnc
             {
                 _currentProgram = _cncProgramService.MoveNode(_currentProgram, nodeVm.Index, nodeVm.Index - 1);
                 OnProgramEdited();
+                _logger.Info("已上移节点 | Moved node up: {OldIndex} -> {NewIndex}", nodeVm.Index, nodeVm.Index - 1);
             }
             catch (ArgumentOutOfRangeException ex)
             {
-                _logger.Warn("Move node up failed: {Message}", ex.Message);
+                _logger.Warn("上移节点失败 | Move node up failed: {Message}", ex.Message);
             }
         }
 
+        /// <summary>
+        /// 下移节点 | Move node down
+        /// </summary>
         private void ExecuteMoveNodeDown(CncNodeViewModel nodeVm)
         {
             if (_currentProgram == null || nodeVm == null || nodeVm.Index >= _currentProgram.Nodes.Count - 1)
@@ -197,18 +255,22 @@ namespace XplorePlane.ViewModels.Cnc
             {
                 _currentProgram = _cncProgramService.MoveNode(_currentProgram, nodeVm.Index, nodeVm.Index + 1);
                 OnProgramEdited();
+                _logger.Info("已下移节点 | Moved node down: {OldIndex} -> {NewIndex}", nodeVm.Index, nodeVm.Index + 1);
             }
             catch (ArgumentOutOfRangeException ex)
             {
-                _logger.Warn("Move node down failed: {Message}", ex.Message);
+                _logger.Warn("下移节点失败 | Move node down failed: {Message}", ex.Message);
             }
         }
 
+        /// <summary>
+        /// 保存当前程序到文件 | Save current program to file
+        /// </summary>
         private async Task ExecuteSaveProgramAsync()
         {
             if (_currentProgram == null)
             {
-                _logger.Warn("Cannot save: no current program");
+                _logger.Warn("无法保存：当前无程序 | Cannot save: no current program");
                 return;
             }
 
@@ -227,13 +289,17 @@ namespace XplorePlane.ViewModels.Cnc
 
                 await _cncProgramService.SaveAsync(_currentProgram, dlg.FileName);
                 IsModified = false;
+                _logger.Info("程序已保存 | Program saved: {FilePath}", dlg.FileName);
             }
             catch (Exception ex)
             {
-                _logger.Error(ex, "Failed to save program");
+                _logger.Error(ex, "保存程序失败 | Failed to save program");
             }
         }
 
+        /// <summary>
+        /// 从文件加载程序 | Load program from file
+        /// </summary>
         private async Task ExecuteLoadProgramAsync()
         {
             try
@@ -252,27 +318,35 @@ namespace XplorePlane.ViewModels.Cnc
                 ProgramName = _currentProgram.Name;
                 IsModified = false;
                 RefreshNodes();
+                _logger.Info("程序已加载 | Program loaded: {ProgramName}", _currentProgram.Name);
             }
             catch (Exception ex)
             {
-                _logger.Error(ex, "Failed to load program");
+                _logger.Error(ex, "加载程序失败 | Failed to load program");
             }
         }
 
+        /// <summary>
+        /// 创建新程序 | Create a new program
+        /// </summary>
         private void ExecuteNewProgram()
         {
-            var name = string.IsNullOrWhiteSpace(ProgramName) ? "NewCncProgram" : ProgramName;
+            var name = string.IsNullOrWhiteSpace(ProgramName) ? "新程序" : ProgramName;
             _currentProgram = _cncProgramService.CreateProgram(name);
             ProgramName = _currentProgram.Name;
             IsModified = false;
             RefreshNodes();
+            _logger.Info("已创建新程序 | Created new program: {ProgramName}", name);
         }
 
+        /// <summary>
+        /// 导出当前程序为 CSV 文件 | Export current program to CSV file
+        /// </summary>
         private void ExecuteExportCsv()
         {
             if (_currentProgram == null || _currentProgram.Nodes.Count == 0)
             {
-                _logger.Warn("Cannot export CSV: no program or empty nodes");
+                _logger.Warn("无法导出 CSV：当前无程序或节点为空 | Cannot export CSV: no program or empty nodes");
                 return;
             }
 
@@ -290,7 +364,8 @@ namespace XplorePlane.ViewModels.Cnc
                     return;
 
                 var sb = new StringBuilder();
-                sb.AppendLine("Index,NodeType,Name,XM,YM,ZT,ZD,TiltD,Dist,Voltage_kV,Current_uA,Power_W,RayOn,DetectorConnected,FrameRate,Resolution,ImageFile,MarkerType,MarkerX,MarkerY,DialogTitle,DialogMessage,DelayMs,Pipeline");
+                // CSV 表头 | CSV header
+                sb.AppendLine("Index,NodeType,Name,XM,YM,ZT,ZD,TiltD,Dist,Voltage_kV,Power_W,RayOn,DetectorConnected,FrameRate,Resolution,ImageFile,MarkerType,MarkerX,MarkerY,DialogTitle,DialogMessage,DelayMs,Pipeline");
 
                 var inv = CultureInfo.InvariantCulture;
 
@@ -298,15 +373,24 @@ namespace XplorePlane.ViewModels.Cnc
                 {
                     var row = node switch
                     {
-                        ReferencePointNode rp => $"{rp.Index},{rp.NodeType},{Esc(rp.Name)},{rp.XM.ToString(inv)},{rp.YM.ToString(inv)},{rp.ZT.ToString(inv)},{rp.ZD.ToString(inv)},{rp.TiltD.ToString(inv)},{rp.Dist.ToString(inv)},{rp.Voltage.ToString(inv)},{rp.Current.ToString(inv)},,{rp.IsRayOn},,,,,,,,,,",
+                        ReferencePointNode rp => $"{rp.Index},{rp.NodeType},{Esc(rp.Name)},{rp.XM.ToString(inv)},{rp.YM.ToString(inv)},{rp.ZT.ToString(inv)},{rp.ZD.ToString(inv)},{rp.TiltD.ToString(inv)},{rp.Dist.ToString(inv)},,,,,,,,,,,,,,",
-                        SaveNodeWithImageNode sni => $"{sni.Index},{sni.NodeType},{Esc(sni.Name)},{sni.MotionState.XM.ToString(inv)},{sni.MotionState.YM.ToString(inv)},{sni.MotionState.ZT.ToString(inv)},{sni.MotionState.ZD.ToString(inv)},{sni.MotionState.TiltD.ToString(inv)},{sni.MotionState.Dist.ToString(inv)},{sni.RaySourceState.Voltage.ToString(inv)},,{sni.RaySourceState.Power.ToString(inv)},{sni.RaySourceState.IsOn},{sni.DetectorState.IsConnected},{sni.DetectorState.FrameRate.ToString(inv)},{Esc(sni.DetectorState.Resolution)},{Esc(sni.ImageFileName)},,,,,,",
+
-                        SaveNodeNode sn => $"{sn.Index},{sn.NodeType},{Esc(sn.Name)},{sn.MotionState.XM.ToString(inv)},{sn.MotionState.YM.ToString(inv)},{sn.MotionState.ZT.ToString(inv)},{sn.MotionState.ZD.ToString(inv)},{sn.MotionState.TiltD.ToString(inv)},{sn.MotionState.Dist.ToString(inv)},{sn.RaySourceState.Voltage.ToString(inv)},,{sn.RaySourceState.Power.ToString(inv)},{sn.RaySourceState.IsOn},{sn.DetectorState.IsConnected},{sn.DetectorState.FrameRate.ToString(inv)},{Esc(sn.DetectorState.Resolution)},,,,,,,",
+                        SaveNodeWithImageNode sni => $"{sni.Index},{sni.NodeType},{Esc(sni.Name)},{sni.MotionState.XM.ToString(inv)},{sni.MotionState.YM.ToString(inv)},{sni.MotionState.ZT.ToString(inv)},{sni.MotionState.ZD.ToString(inv)},{sni.MotionState.TiltD.ToString(inv)},{sni.MotionState.Dist.ToString(inv)},{sni.RaySourceState.Voltage.ToString(inv)},{sni.RaySourceState.Power.ToString(inv)},{sni.RaySourceState.IsOn},{sni.DetectorState.IsConnected},{sni.DetectorState.FrameRate.ToString(inv)},{Esc(sni.DetectorState.Resolution)},{Esc(sni.ImageFileName)},,,,,,",
+
+                        SaveNodeNode sn => $"{sn.Index},{sn.NodeType},{Esc(sn.Name)},{sn.MotionState.XM.ToString(inv)},{sn.MotionState.YM.ToString(inv)},{sn.MotionState.ZT.ToString(inv)},{sn.MotionState.ZD.ToString(inv)},{sn.MotionState.TiltD.ToString(inv)},{sn.MotionState.Dist.ToString(inv)},{sn.RaySourceState.Voltage.ToString(inv)},{sn.RaySourceState.Power.ToString(inv)},{sn.RaySourceState.IsOn},{sn.DetectorState.IsConnected},{sn.DetectorState.FrameRate.ToString(inv)},{Esc(sn.DetectorState.Resolution)},,,,,,,",
+
                         SavePositionNode sp => $"{sp.Index},{sp.NodeType},{Esc(sp.Name)},{sp.MotionState.XM.ToString(inv)},{sp.MotionState.YM.ToString(inv)},{sp.MotionState.ZT.ToString(inv)},{sp.MotionState.ZD.ToString(inv)},{sp.MotionState.TiltD.ToString(inv)},{sp.MotionState.Dist.ToString(inv)},,,,,,,,,,,,,,",
+
                         InspectionModuleNode im => $"{im.Index},{im.NodeType},{Esc(im.Name)},,,,,,,,,,,,,,,,,,,{Esc(im.Pipeline?.Name ?? string.Empty)}",
+
                         InspectionMarkerNode mk => $"{mk.Index},{mk.NodeType},{Esc(mk.Name)},,,,,,,,,,,,,,{Esc(mk.MarkerType)},{mk.MarkerX.ToString(inv)},{mk.MarkerY.ToString(inv)},,,",
+
                         PauseDialogNode pd => $"{pd.Index},{pd.NodeType},{Esc(pd.Name)},,,,,,,,,,,,,,,,,{Esc(pd.DialogTitle)},{Esc(pd.DialogMessage)},,",
+
                         WaitDelayNode wd => $"{wd.Index},{wd.NodeType},{Esc(wd.Name)},,,,,,,,,,,,,,,,,,,{wd.DelayMilliseconds},",
+
                         CompleteProgramNode cp => $"{cp.Index},{cp.NodeType},{Esc(cp.Name)},,,,,,,,,,,,,,,,,,,,",
+
                         _ => $"{node.Index},{node.NodeType},{Esc(node.Name)},,,,,,,,,,,,,,,,,,,,"
                     };
 
@@ -314,13 +398,18 @@ namespace XplorePlane.ViewModels.Cnc
                 }
 
                 File.WriteAllText(dlg.FileName, sb.ToString(), Encoding.UTF8);
+                _logger.Info("CSV 已导出 | CSV exported: {FilePath}, 节点数={Count}", dlg.FileName, _currentProgram.Nodes.Count);
             }
             catch (Exception ex)
             {
-                _logger.Error(ex, "Failed to export CSV");
+                _logger.Error(ex, "导出 CSV 失败 | Failed to export CSV");
             }
         }
 
+        /// <summary>
+        /// CSV 字段转义：含逗号、引号或换行时用双引号包裹
+        /// Escape CSV field: wrap with double quotes if it contains comma, quote, or newline
+        /// </summary>
         private static string Esc(string value)
         {
             if (string.IsNullOrEmpty(value)) return string.Empty;
@@ -329,6 +418,12 @@ namespace XplorePlane.ViewModels.Cnc
             return value;
         }
 
+        // ── 辅助方法 | Helper methods ───────────────────────────────────
+
+        /// <summary>
+        /// 编辑操作后的统一处理：刷新节点、标记已修改、发布变更事件
+        /// Unified post-edit handling: refresh nodes, mark modified, publish change event
+        /// </summary>
         private void OnProgramEdited()
         {
             IsModified = true;
@@ -336,70 +431,34 @@ namespace XplorePlane.ViewModels.Cnc
             PublishProgramChanged();
         }
 
-        private void HandleNodeModelChanged(CncNodeViewModel nodeVm, CncNode updatedNode)
+        /// <summary>
-        {
+        /// 从 _currentProgram.Nodes 重建 Nodes 集合
-            if (_currentProgram == null)
+        /// Rebuild the Nodes collection from _currentProgram.Nodes
-                return;
+        /// </summary>
-
-            _currentProgram = _cncProgramService.UpdateNode(_currentProgram, nodeVm.Index, updatedNode);
-            IsModified = true;
-            ProgramName = _currentProgram.Name;
-            PublishProgramChanged();
-        }
-
         private void RefreshNodes()
         {
-            var selectedId = SelectedNode?.Id;
+            Nodes.Clear();
-            var expansionState = Nodes.ToDictionary(node => node.Id, node => node.IsExpanded);
 
-            var flatNodes = new List<CncNodeViewModel>();
+            if (_currentProgram?.Nodes == null)
-            var rootNodes = new List<CncNodeViewModel>();
+                return;
-            CncNodeViewModel currentModule = null;
 
-            if (_currentProgram?.Nodes != null)
+            foreach (var node in _currentProgram.Nodes)
             {
-                foreach (var node in _currentProgram.Nodes)
+                Nodes.Add(new CncNodeViewModel(node));
-                {
-                    var vm = new CncNodeViewModel(node, HandleNodeModelChanged)
-                    {
-                        IsExpanded = expansionState.TryGetValue(node.Id, out var isExpanded) ? isExpanded : true
-                    };
-
-                    flatNodes.Add(vm);
-
-                    if (vm.IsInspectionModule)
-                    {
-                        rootNodes.Add(vm);
-                        currentModule = vm;
-                        continue;
-                    }
-
-                    if (currentModule != null && IsModuleChild(vm.NodeType))
-                    {
-                        currentModule.Children.Add(vm);
-                        continue;
-                    }
-
-                    rootNodes.Add(vm);
-                    currentModule = null;
-                }
             }
 
-            Nodes = new ObservableCollection<CncNodeViewModel>(flatNodes);
+            // 尝试保持选中状态 | Try to preserve selection
-            TreeNodes = new ObservableCollection<CncNodeViewModel>(rootNodes);
+            if (SelectedNode != null)
-
+            {
-            SelectedNode = selectedId.HasValue
+                var match = Nodes.FirstOrDefault(n => n.Index == SelectedNode.Index);
-                ? Nodes.FirstOrDefault(node => node.Id == selectedId.Value) ?? Nodes.LastOrDefault()
+                SelectedNode = match ?? Nodes.LastOrDefault();
-                : Nodes.LastOrDefault();
+            }
-        }
-
-        private static bool IsModuleChild(CncNodeType type)
-        {
-            return type is CncNodeType.InspectionMarker
-                or CncNodeType.PauseDialog
-                or CncNodeType.WaitDelay;
         }
 
+        /// <summary>
+        /// 通过 IEventAggregator 发布 CNC 程序变更事件
+        /// Publish CNC program changed event via IEventAggregator
+        /// </summary>
         private void PublishProgramChanged()
         {
             _eventAggregator
@@ -407,4 +466,4 @@ namespace XplorePlane.ViewModels.Cnc
                 .Publish(new CncProgramChangedPayload(ProgramName ?? string.Empty, IsModified));
         }
     }
-}
+}

XplorePlane/ViewModels/Cnc/CncNodeViewModel.cs

@@ -1,543 +1,89 @@
 using Prism.Mvvm;
-using System;
-using System.Collections.ObjectModel;
 using XplorePlane.Models;
 
 namespace XplorePlane.ViewModels.Cnc
 {
     /// <summary>
-    /// CNC node ViewModel with editable properties and tree children.
+    /// CNC 节点 ViewModel，将 CncNode 模型封装为可绑定的 WPF ViewModel
+    /// CNC node ViewModel that wraps a CncNode model into a bindable WPF ViewModel
     /// </summary>
     public class CncNodeViewModel : BindableBase
     {
-        private readonly Action<CncNodeViewModel, CncNode> _modelChangedCallback;
+        private int _index;
-        private CncNode _model;
+        private string _name;
+        private CncNodeType _nodeType;
         private string _icon;
-        private bool _isExpanded = true;
 
-        public CncNodeViewModel(CncNode model, Action<CncNodeViewModel, CncNode> modelChangedCallback)
+        /// <summary>
+        /// 构造函数，从 CncNode 模型初始化 ViewModel
+        /// Constructor that initializes the ViewModel from a CncNode model
+        /// </summary>
+        public CncNodeViewModel(CncNode model)
         {
-            _model = model ?? throw new ArgumentNullException(nameof(model));
+            Model = model;
-            _modelChangedCallback = modelChangedCallback ?? throw new ArgumentNullException(nameof(modelChangedCallback));
+            _index = model.Index;
+            _name = model.Name;
+            _nodeType = model.NodeType;
             _icon = GetIconForNodeType(model.NodeType);
-            Children = new ObservableCollection<CncNodeViewModel>();
         }
 
-        public ObservableCollection<CncNodeViewModel> Children { get; }
+        /// <summary>底层 CNC 节点模型（只读）| Underlying CNC node model (read-only)</summary>
+        public CncNode Model { get; }
 
-        public CncNode Model => _model;
+        /// <summary>节点在程序中的索引 | Node index in the program</summary>
-
+        public int Index
-        public Guid Id => _model.Id;
+        {
-
+            get => _index;
-        public int Index => _model.Index;
+            set => SetProperty(ref _index, value);
+        }
 
+        /// <summary>节点显示名称 | Node display name</summary>
         public string Name
         {
-            get => _model.Name;
+            get => _name;
-            set => UpdateModel(_model with { Name = value ?? string.Empty });
+            set => SetProperty(ref _name, value);
         }
 
-        public CncNodeType NodeType => _model.NodeType;
+        /// <summary>节点类型 | Node type</summary>
-
+        public CncNodeType NodeType
-        public string NodeTypeDisplay => NodeType.ToString();
+        {
+            get => _nodeType;
+            set
+            {
+                if (SetProperty(ref _nodeType, value))
+                {
+                    // 类型变更时自动更新图标 | Auto-update icon when type changes
+                    Icon = GetIconForNodeType(value);
+                }
+            }
+        }
 
+        /// <summary>节点图标路径 | Node icon path</summary>
         public string Icon
         {
             get => _icon;
-            private set => SetProperty(ref _icon, value);
+            set => SetProperty(ref _icon, value);
-        }
-
-        public bool IsExpanded
-        {
-            get => _isExpanded;
-            set => SetProperty(ref _isExpanded, value);
-        }
-
-        public bool HasChildren => Children.Count > 0;
-
-        public bool IsReferencePoint => _model is ReferencePointNode;
-        public bool IsSaveNode => _model is SaveNodeNode;
-        public bool IsSaveNodeWithImage => _model is SaveNodeWithImageNode;
-        public bool IsSavePosition => _model is SavePositionNode;
-        public bool IsInspectionModule => _model is InspectionModuleNode;
-        public bool IsInspectionMarker => _model is InspectionMarkerNode;
-        public bool IsPauseDialog => _model is PauseDialogNode;
-        public bool IsWaitDelay => _model is WaitDelayNode;
-        public bool IsCompleteProgram => _model is CompleteProgramNode;
-        public bool IsMotionSnapshotNode => _model is ReferencePointNode or SaveNodeNode or SaveNodeWithImageNode or SavePositionNode;
-
-        public double XM
-        {
-            get => _model switch
-            {
-                ReferencePointNode rp => rp.XM,
-                SaveNodeNode sn => sn.MotionState.XM,
-                SaveNodeWithImageNode sni => sni.MotionState.XM,
-                SavePositionNode sp => sp.MotionState.XM,
-                _ => 0d
-            };
-            set => UpdateMotion(value, MotionAxis.XM);
-        }
-
-        public double YM
-        {
-            get => _model switch
-            {
-                ReferencePointNode rp => rp.YM,
-                SaveNodeNode sn => sn.MotionState.YM,
-                SaveNodeWithImageNode sni => sni.MotionState.YM,
-                SavePositionNode sp => sp.MotionState.YM,
-                _ => 0d
-            };
-            set => UpdateMotion(value, MotionAxis.YM);
-        }
-
-        public double ZT
-        {
-            get => _model switch
-            {
-                ReferencePointNode rp => rp.ZT,
-                SaveNodeNode sn => sn.MotionState.ZT,
-                SaveNodeWithImageNode sni => sni.MotionState.ZT,
-                SavePositionNode sp => sp.MotionState.ZT,
-                _ => 0d
-            };
-            set => UpdateMotion(value, MotionAxis.ZT);
-        }
-
-        public double ZD
-        {
-            get => _model switch
-            {
-                ReferencePointNode rp => rp.ZD,
-                SaveNodeNode sn => sn.MotionState.ZD,
-                SaveNodeWithImageNode sni => sni.MotionState.ZD,
-                SavePositionNode sp => sp.MotionState.ZD,
-                _ => 0d
-            };
-            set => UpdateMotion(value, MotionAxis.ZD);
-        }
-
-        public double TiltD
-        {
-            get => _model switch
-            {
-                ReferencePointNode rp => rp.TiltD,
-                SaveNodeNode sn => sn.MotionState.TiltD,
-                SaveNodeWithImageNode sni => sni.MotionState.TiltD,
-                SavePositionNode sp => sp.MotionState.TiltD,
-                _ => 0d
-            };
-            set => UpdateMotion(value, MotionAxis.TiltD);
-        }
-
-        public double Dist
-        {
-            get => _model switch
-            {
-                ReferencePointNode rp => rp.Dist,
-                SaveNodeNode sn => sn.MotionState.Dist,
-                SaveNodeWithImageNode sni => sni.MotionState.Dist,
-                SavePositionNode sp => sp.MotionState.Dist,
-                _ => 0d
-            };
-            set => UpdateMotion(value, MotionAxis.Dist);
-        }
-
-        public bool IsRayOn
-        {
-            get => _model switch
-            {
-                ReferencePointNode rp => rp.IsRayOn,
-                SaveNodeNode sn => sn.RaySourceState.IsOn,
-                SaveNodeWithImageNode sni => sni.RaySourceState.IsOn,
-                _ => false
-            };
-            set => UpdateRaySource(isOn: value);
-        }
-
-        public double Voltage
-        {
-            get => _model switch
-            {
-                ReferencePointNode rp => rp.Voltage,
-                SaveNodeNode sn => sn.RaySourceState.Voltage,
-                SaveNodeWithImageNode sni => sni.RaySourceState.Voltage,
-                _ => 0d
-            };
-            set => UpdateRaySource(voltage: value);
-        }
-
-        public double Current
-        {
-            get => _model is ReferencePointNode rp ? rp.Current : 0d;
-            set
-            {
-                if (_model is ReferencePointNode rp)
-                {
-                    UpdateModel(rp with { Current = value });
-                }
-            }
-        }
-
-        public double Power
-        {
-            get => _model switch
-            {
-                SaveNodeNode sn => sn.RaySourceState.Power,
-                SaveNodeWithImageNode sni => sni.RaySourceState.Power,
-                _ => 0d
-            };
-            set => UpdateRaySource(power: value);
-        }
-
-        public bool DetectorConnected
-        {
-            get => _model switch
-            {
-                SaveNodeNode sn => sn.DetectorState.IsConnected,
-                SaveNodeWithImageNode sni => sni.DetectorState.IsConnected,
-                _ => false
-            };
-            set => UpdateDetector(isConnected: value);
-        }
-
-        public bool DetectorAcquiring
-        {
-            get => _model switch
-            {
-                SaveNodeNode sn => sn.DetectorState.IsAcquiring,
-                SaveNodeWithImageNode sni => sni.DetectorState.IsAcquiring,
-                _ => false
-            };
-            set => UpdateDetector(isAcquiring: value);
-        }
-
-        public double FrameRate
-        {
-            get => _model switch
-            {
-                SaveNodeNode sn => sn.DetectorState.FrameRate,
-                SaveNodeWithImageNode sni => sni.DetectorState.FrameRate,
-                _ => 0d
-            };
-            set => UpdateDetector(frameRate: value);
-        }
-
-        public string Resolution
-        {
-            get => _model switch
-            {
-                SaveNodeNode sn => sn.DetectorState.Resolution,
-                SaveNodeWithImageNode sni => sni.DetectorState.Resolution,
-                _ => string.Empty
-            };
-            set => UpdateDetector(resolution: value ?? string.Empty);
-        }
-
-        public string ImageFileName
-        {
-            get => _model is SaveNodeWithImageNode sni ? sni.ImageFileName : string.Empty;
-            set
-            {
-                if (_model is SaveNodeWithImageNode sni)
-                {
-                    UpdateModel(sni with { ImageFileName = value ?? string.Empty });
-                }
-            }
-        }
-
-        public string PipelineName
-        {
-            get => _model is InspectionModuleNode im ? im.Pipeline?.Name ?? string.Empty : string.Empty;
-            set
-            {
-                if (_model is InspectionModuleNode im)
-                {
-                    var pipeline = im.Pipeline ?? new PipelineModel();
-                    pipeline.Name = value ?? string.Empty;
-                    UpdateModel(im with { Pipeline = pipeline });
-                }
-            }
-        }
-
-        public PipelineModel Pipeline
-        {
-            get => _model is InspectionModuleNode im ? im.Pipeline : null;
-            set
-            {
-                if (_model is InspectionModuleNode im)
-                {
-                    UpdateModel(im with { Pipeline = value ?? new PipelineModel() });
-                }
-            }
-        }
-
-        public string MarkerType
-        {
-            get => _model is InspectionMarkerNode mk ? mk.MarkerType : string.Empty;
-            set
-            {
-                if (_model is InspectionMarkerNode mk)
-                {
-                    UpdateModel(mk with { MarkerType = value ?? string.Empty });
-                }
-            }
-        }
-
-        public double MarkerX
-        {
-            get => _model is InspectionMarkerNode mk ? mk.MarkerX : 0d;
-            set
-            {
-                if (_model is InspectionMarkerNode mk)
-                {
-                    UpdateModel(mk with { MarkerX = value });
-                }
-            }
-        }
-
-        public double MarkerY
-        {
-            get => _model is InspectionMarkerNode mk ? mk.MarkerY : 0d;
-            set
-            {
-                if (_model is InspectionMarkerNode mk)
-                {
-                    UpdateModel(mk with { MarkerY = value });
-                }
-            }
-        }
-
-        public string DialogTitle
-        {
-            get => _model is PauseDialogNode pd ? pd.DialogTitle : string.Empty;
-            set
-            {
-                if (_model is PauseDialogNode pd)
-                {
-                    UpdateModel(pd with { DialogTitle = value ?? string.Empty });
-                }
-            }
-        }
-
-        public string DialogMessage
-        {
-            get => _model is PauseDialogNode pd ? pd.DialogMessage : string.Empty;
-            set
-            {
-                if (_model is PauseDialogNode pd)
-                {
-                    UpdateModel(pd with { DialogMessage = value ?? string.Empty });
-                }
-            }
-        }
-
-        public int DelayMilliseconds
-        {
-            get => _model is WaitDelayNode wd ? wd.DelayMilliseconds : 0;
-            set
-            {
-                if (_model is WaitDelayNode wd)
-                {
-                    UpdateModel(wd with { DelayMilliseconds = value });
-                }
-            }
-        }
-
-        public void ReplaceModel(CncNode model)
-        {
-            _model = model ?? throw new ArgumentNullException(nameof(model));
-            Icon = GetIconForNodeType(model.NodeType);
-            RaiseAllPropertiesChanged();
         }
 
+        /// <summary>
+        /// 根据节点类型返回对应的图标路径
+        /// Returns the icon path for the given node type
+        /// </summary>
         public static string GetIconForNodeType(CncNodeType nodeType)
         {
             return nodeType switch
             {
-                CncNodeType.ReferencePoint => "/Assets/Icons/reference.png",
+                CncNodeType.ReferencePoint => "/Resources/Icons/cnc_reference_point.png",
-                CncNodeType.SaveNodeWithImage => "/Assets/Icons/saveall.png",
+                CncNodeType.SaveNodeWithImage => "/Resources/Icons/cnc_save_with_image.png",
-                CncNodeType.SaveNode => "/Assets/Icons/save.png",
+                CncNodeType.SaveNode => "/Resources/Icons/cnc_save_node.png",
-                CncNodeType.SavePosition => "/Assets/Icons/add-pos.png",
+                CncNodeType.SavePosition => "/Resources/Icons/cnc_save_position.png",
-                CncNodeType.InspectionModule => "/Assets/Icons/Module.png",
+                CncNodeType.InspectionModule => "/Resources/Icons/cnc_inspection_module.png",
-                CncNodeType.InspectionMarker => "/Assets/Icons/mark.png",
+                CncNodeType.InspectionMarker => "/Resources/Icons/cnc_inspection_marker.png",
-                CncNodeType.PauseDialog => "/Assets/Icons/message.png",
+                CncNodeType.PauseDialog => "/Resources/Icons/cnc_pause_dialog.png",
-                CncNodeType.WaitDelay => "/Assets/Icons/wait.png",
+                CncNodeType.WaitDelay => "/Resources/Icons/cnc_wait_delay.png",
-                CncNodeType.CompleteProgram => "/Assets/Icons/finish.png",
+                CncNodeType.CompleteProgram => "/Resources/Icons/cnc_complete_program.png",
-                _ => "/Assets/Icons/cnc.png",
+                _ => "/Resources/Icons/cnc_default.png",
             };
         }
-
-        private void UpdateMotion(double value, MotionAxis axis)
-        {
-            switch (_model)
-            {
-                case ReferencePointNode rp:
-                    UpdateModel(axis switch
-                    {
-                        MotionAxis.XM => rp with { XM = value },
-                        MotionAxis.YM => rp with { YM = value },
-                        MotionAxis.ZT => rp with { ZT = value },
-                        MotionAxis.ZD => rp with { ZD = value },
-                        MotionAxis.TiltD => rp with { TiltD = value },
-                        MotionAxis.Dist => rp with { Dist = value },
-                        _ => rp
-                    });
-                    break;
-                case SaveNodeNode sn:
-                    UpdateModel(sn with { MotionState = UpdateMotionState(sn.MotionState, axis, value) });
-                    break;
-                case SaveNodeWithImageNode sni:
-                    UpdateModel(sni with { MotionState = UpdateMotionState(sni.MotionState, axis, value) });
-                    break;
-                case SavePositionNode sp:
-                    UpdateModel(sp with { MotionState = UpdateMotionState(sp.MotionState, axis, value) });
-                    break;
-            }
-        }
-
-        private void UpdateRaySource(bool? isOn = null, double? voltage = null, double? current = null, double? power = null)
-        {
-            switch (_model)
-            {
-                case ReferencePointNode rp:
-                    UpdateModel(rp with
-                    {
-                        IsRayOn = isOn ?? rp.IsRayOn,
-                        Voltage = voltage ?? rp.Voltage,
-                        Current = current ?? rp.Current
-                    });
-                    break;
-                case SaveNodeNode sn:
-                    UpdateModel(sn with
-                    {
-                        RaySourceState = sn.RaySourceState with
-                        {
-                            IsOn = isOn ?? sn.RaySourceState.IsOn,
-                            Voltage = voltage ?? sn.RaySourceState.Voltage,
-                            Power = power ?? sn.RaySourceState.Power
-                        }
-                    });
-                    break;
-                case SaveNodeWithImageNode sni:
-                    UpdateModel(sni with
-                    {
-                        RaySourceState = sni.RaySourceState with
-                        {
-                            IsOn = isOn ?? sni.RaySourceState.IsOn,
-                            Voltage = voltage ?? sni.RaySourceState.Voltage,
-                            Power = power ?? sni.RaySourceState.Power
-                        }
-                    });
-                    break;
-            }
-        }
-
-        private void UpdateDetector(bool? isConnected = null, bool? isAcquiring = null, double? frameRate = null, string resolution = null)
-        {
-            switch (_model)
-            {
-                case SaveNodeNode sn:
-                    UpdateModel(sn with
-                    {
-                        DetectorState = sn.DetectorState with
-                        {
-                            IsConnected = isConnected ?? sn.DetectorState.IsConnected,
-                            IsAcquiring = isAcquiring ?? sn.DetectorState.IsAcquiring,
-                            FrameRate = frameRate ?? sn.DetectorState.FrameRate,
-                            Resolution = resolution ?? sn.DetectorState.Resolution
-                        }
-                    });
-                    break;
-                case SaveNodeWithImageNode sni:
-                    UpdateModel(sni with
-                    {
-                        DetectorState = sni.DetectorState with
-                        {
-                            IsConnected = isConnected ?? sni.DetectorState.IsConnected,
-                            IsAcquiring = isAcquiring ?? sni.DetectorState.IsAcquiring,
-                            FrameRate = frameRate ?? sni.DetectorState.FrameRate,
-                            Resolution = resolution ?? sni.DetectorState.Resolution
-                        }
-                    });
-                    break;
-            }
-        }
-
-        private static MotionState UpdateMotionState(MotionState state, MotionAxis axis, double value)
-        {
-            return axis switch
-            {
-                MotionAxis.XM => state with { XM = value },
-                MotionAxis.YM => state with { YM = value },
-                MotionAxis.ZT => state with { ZT = value },
-                MotionAxis.ZD => state with { ZD = value },
-                MotionAxis.TiltD => state with { TiltD = value },
-                MotionAxis.Dist => state with { Dist = value },
-                _ => state
-            };
-        }
-
-        private void UpdateModel(CncNode updatedModel)
-        {
-            _model = updatedModel ?? throw new ArgumentNullException(nameof(updatedModel));
-            RaiseAllPropertiesChanged();
-            _modelChangedCallback(this, updatedModel);
-        }
-
-        private void RaiseAllPropertiesChanged()
-        {
-            RaisePropertyChanged(nameof(Model));
-            RaisePropertyChanged(nameof(Id));
-            RaisePropertyChanged(nameof(Index));
-            RaisePropertyChanged(nameof(Name));
-            RaisePropertyChanged(nameof(NodeType));
-            RaisePropertyChanged(nameof(NodeTypeDisplay));
-            RaisePropertyChanged(nameof(Icon));
-            RaisePropertyChanged(nameof(IsReferencePoint));
-            RaisePropertyChanged(nameof(IsSaveNode));
-            RaisePropertyChanged(nameof(IsSaveNodeWithImage));
-            RaisePropertyChanged(nameof(IsSavePosition));
-            RaisePropertyChanged(nameof(IsInspectionModule));
-            RaisePropertyChanged(nameof(IsInspectionMarker));
-            RaisePropertyChanged(nameof(IsPauseDialog));
-            RaisePropertyChanged(nameof(IsWaitDelay));
-            RaisePropertyChanged(nameof(IsCompleteProgram));
-            RaisePropertyChanged(nameof(IsMotionSnapshotNode));
-            RaisePropertyChanged(nameof(XM));
-            RaisePropertyChanged(nameof(YM));
-            RaisePropertyChanged(nameof(ZT));
-            RaisePropertyChanged(nameof(ZD));
-            RaisePropertyChanged(nameof(TiltD));
-            RaisePropertyChanged(nameof(Dist));
-            RaisePropertyChanged(nameof(IsRayOn));
-            RaisePropertyChanged(nameof(Voltage));
-            RaisePropertyChanged(nameof(Current));
-            RaisePropertyChanged(nameof(Power));
-            RaisePropertyChanged(nameof(DetectorConnected));
-            RaisePropertyChanged(nameof(DetectorAcquiring));
-            RaisePropertyChanged(nameof(FrameRate));
-            RaisePropertyChanged(nameof(Resolution));
-            RaisePropertyChanged(nameof(ImageFileName));
-            RaisePropertyChanged(nameof(Pipeline));
-            RaisePropertyChanged(nameof(PipelineName));
-            RaisePropertyChanged(nameof(MarkerType));
-            RaisePropertyChanged(nameof(MarkerX));
-            RaisePropertyChanged(nameof(MarkerY));
-            RaisePropertyChanged(nameof(DialogTitle));
-            RaisePropertyChanged(nameof(DialogMessage));
-            RaisePropertyChanged(nameof(DelayMilliseconds));
-        }
-
-        private enum MotionAxis
-        {
-            XM,
-            YM,
-            ZT,
-            ZD,
-            TiltD,
-            Dist
-        }
     }
-}
+}

XplorePlane/ViewModels/ImageProcessing/PipelineEditorViewModel.cs

@@ -8,7 +8,6 @@ using System.IO;
 using System.Linq;
 using System.Threading;
 using System.Threading.Tasks;
-using System.Windows.Input;
 using System.Windows.Media.Imaging;
 using XP.Common.Logging.Interfaces;
 using XplorePlane.Events;
@@ -17,7 +16,7 @@ using XplorePlane.Services;
 
 namespace XplorePlane.ViewModels
 {
-    public class PipelineEditorViewModel : BindableBase, IPipelineEditorHostViewModel
+    public class PipelineEditorViewModel : BindableBase
     {
         private const int MaxPipelineLength = 20;
         private const int DebounceDelayMs = 300;
@@ -166,15 +165,6 @@ namespace XplorePlane.ViewModels
         public DelegateCommand<PipelineNodeViewModel> MoveNodeUpCommand { get; }
         public DelegateCommand<PipelineNodeViewModel> MoveNodeDownCommand { get; }
 
-        ICommand IPipelineEditorHostViewModel.AddOperatorCommand => AddOperatorCommand;
-        ICommand IPipelineEditorHostViewModel.RemoveOperatorCommand => RemoveOperatorCommand;
-        ICommand IPipelineEditorHostViewModel.MoveNodeUpCommand => MoveNodeUpCommand;
-        ICommand IPipelineEditorHostViewModel.MoveNodeDownCommand => MoveNodeDownCommand;
-        ICommand IPipelineEditorHostViewModel.NewPipelineCommand => NewPipelineCommand;
-        ICommand IPipelineEditorHostViewModel.SavePipelineCommand => SavePipelineCommand;
-        ICommand IPipelineEditorHostViewModel.SaveAsPipelineCommand => SaveAsPipelineCommand;
-        ICommand IPipelineEditorHostViewModel.LoadPipelineCommand => LoadPipelineCommand;
-
         // ── Command Implementations ───────────────────────────────────
 
         private bool CanAddOperator(string operatorKey) =>

XplorePlane/ViewModels/Main/MainViewModel.cs

@@ -1,4 +1,4 @@
-using Prism.Commands;
+using Prism.Commands;
 using Prism.Events;
 using Prism.Ioc;
 using Prism.Mvvm;
@@ -10,9 +10,6 @@ using System.IO;
 using System.Windows;
 using System.Windows.Media.Imaging;
 using XplorePlane.Events;
-using XplorePlane.ViewModels.Cnc;
-using XplorePlane.Views;
-using XplorePlane.Views.Cnc;
 using XP.Common.Logging.Interfaces;
 using XP.Common.PdfViewer.Interfaces;
 using XP.Hardware.MotionControl.Abstractions;
@@ -21,12 +18,9 @@ namespace XplorePlane.ViewModels
 {
     public class MainViewModel : BindableBase
     {
-        private const double CncEditorHostWidth = 710d;
         private readonly ILoggerService _logger;
         private readonly IContainerProvider _containerProvider;
         private readonly IEventAggregator _eventAggregator;
-        private readonly CncEditorViewModel _cncEditorViewModel;
-        private readonly CncPageView _cncPageView;
         private string _licenseInfo = "当前时间";
 
         public string LicenseInfo
@@ -55,17 +49,6 @@ namespace XplorePlane.ViewModels
         public DelegateCommand OpenLibraryVersionsCommand { get; }
         public DelegateCommand OpenUserManualCommand { get; }
         public DelegateCommand OpenCameraSettingsCommand { get; }
-        public DelegateCommand NewCncProgramCommand { get; }
-        public DelegateCommand SaveCncProgramCommand { get; }
-        public DelegateCommand LoadCncProgramCommand { get; }
-        public DelegateCommand InsertReferencePointCommand { get; }
-        public DelegateCommand InsertSavePositionCommand { get; }
-        public DelegateCommand InsertCompleteProgramCommand { get; }
-        public DelegateCommand InsertInspectionMarkerCommand { get; }
-        public DelegateCommand InsertInspectionModuleCommand { get; }
-        public DelegateCommand InsertSaveNodeCommand { get; }
-        public DelegateCommand InsertPauseDialogCommand { get; }
-        public DelegateCommand InsertWaitDelayCommand { get; }
 
         // 硬件命令
         public DelegateCommand AxisResetCommand { get; }
@@ -79,27 +62,6 @@ namespace XplorePlane.ViewModels
         public DelegateCommand OpenLanguageSwitcherCommand { get; }
         public DelegateCommand OpenRealTimeLogViewerCommand { get; }
 
-        /// <summary>右侧图像区域内容 | Right-side image panel content</summary>
-        public object ImagePanelContent
-        {
-            get => _imagePanelContent;
-            set => SetProperty(ref _imagePanelContent, value);
-        }
-
-        /// <summary>右侧图像区域宽度 | Right-side image panel width</summary>
-        public GridLength ImagePanelWidth
-        {
-            get => _imagePanelWidth;
-            set => SetProperty(ref _imagePanelWidth, value);
-        }
-
-        /// <summary>主视图区宽度 | Main viewport width</summary>
-        public GridLength ViewportPanelWidth
-        {
-            get => _viewportPanelWidth;
-            set => SetProperty(ref _viewportPanelWidth, value);
-        }
-
         // 窗口引用（单例窗口防止重复打开）
         private Window _motionDebugWindow;
         private Window _detectorConfigWindow;
@@ -107,18 +69,12 @@ namespace XplorePlane.ViewModels
         private Window _realTimeLogViewerWindow;
         private Window _toolboxWindow;
         private Window _raySourceConfigWindow;
-        private object _imagePanelContent;
-        private GridLength _viewportPanelWidth = new GridLength(1, GridUnitType.Star);
-        private GridLength _imagePanelWidth = new GridLength(320);
-        private bool _isCncEditorMode;
 
         public MainViewModel(ILoggerService logger, IContainerProvider containerProvider, IEventAggregator eventAggregator)
         {
             _logger = logger?.ForModule<MainViewModel>() ?? throw new ArgumentNullException(nameof(logger));
             _containerProvider = containerProvider ?? throw new ArgumentNullException(nameof(containerProvider));
             _eventAggregator = eventAggregator ?? throw new ArgumentNullException(nameof(eventAggregator));
-            _cncEditorViewModel = _containerProvider.Resolve<CncEditorViewModel>();
-            _cncPageView = new CncPageView { DataContext = _cncEditorViewModel };
 
             NavigationTree = new ObservableCollection<object>();
 
@@ -134,23 +90,12 @@ namespace XplorePlane.ViewModels
             OpenImageProcessingCommand = new DelegateCommand(() => ShowWindow(new Views.ImageProcessingWindow(), "图像处理"));
             LoadImageCommand = new DelegateCommand(ExecuteLoadImage);
             OpenPipelineEditorCommand = new DelegateCommand(() => ShowWindow(new Views.PipelineEditorWindow(), "流水线编辑器"));
-            OpenCncEditorCommand = new DelegateCommand(ExecuteOpenCncEditor);
+            OpenCncEditorCommand = new DelegateCommand(() => ShowWindow(new Views.Cnc.CncEditorWindow(), "CNC 编辑器"));
             OpenMatrixEditorCommand = new DelegateCommand(() => ShowWindow(new Views.Cnc.MatrixEditorWindow(), "矩阵编排"));
             OpenToolboxCommand = new DelegateCommand(ExecuteOpenToolbox);
             OpenLibraryVersionsCommand = new DelegateCommand(() => ShowWindow(new Views.LibraryVersionsWindow(), "关于"));
             OpenUserManualCommand = new DelegateCommand(ExecuteOpenUserManual);
             OpenCameraSettingsCommand = new DelegateCommand(ExecuteOpenCameraSettings);
-            NewCncProgramCommand = new DelegateCommand(() => ExecuteCncEditorAction(vm => vm.NewProgramCommand.Execute()));
-            SaveCncProgramCommand = new DelegateCommand(() => ExecuteCncEditorAction(vm => vm.SaveProgramCommand.Execute()));
-            LoadCncProgramCommand = new DelegateCommand(() => ExecuteCncEditorAction(vm => vm.LoadProgramCommand.Execute()));
-            InsertReferencePointCommand = new DelegateCommand(() => ExecuteCncEditorAction(vm => vm.InsertReferencePointCommand.Execute()));
-            InsertSavePositionCommand = new DelegateCommand(() => ExecuteCncEditorAction(vm => vm.InsertSavePositionCommand.Execute()));
-            InsertCompleteProgramCommand = new DelegateCommand(() => ExecuteCncEditorAction(vm => vm.InsertCompleteProgramCommand.Execute()));
-            InsertInspectionMarkerCommand = new DelegateCommand(() => ExecuteCncEditorAction(vm => vm.InsertInspectionMarkerCommand.Execute()));
-            InsertInspectionModuleCommand = new DelegateCommand(() => ExecuteCncEditorAction(vm => vm.InsertInspectionModuleCommand.Execute()));
-            InsertSaveNodeCommand = new DelegateCommand(() => ExecuteCncEditorAction(vm => vm.InsertSaveNodeCommand.Execute()));
-            InsertPauseDialogCommand = new DelegateCommand(() => ExecuteCncEditorAction(vm => vm.InsertPauseDialogCommand.Execute()));
-            InsertWaitDelayCommand = new DelegateCommand(() => ExecuteCncEditorAction(vm => vm.InsertWaitDelayCommand.Execute()));
 
             // 硬件命令
             AxisResetCommand = new DelegateCommand(ExecuteAxisReset);
@@ -164,10 +109,6 @@ namespace XplorePlane.ViewModels
             OpenLanguageSwitcherCommand = new DelegateCommand(ExecuteOpenLanguageSwitcher);
             OpenRealTimeLogViewerCommand = new DelegateCommand(ExecuteOpenRealTimeLogViewer);
 
-            ImagePanelContent = new PipelineEditorView();
-            ViewportPanelWidth = new GridLength(1, GridUnitType.Star);
-            ImagePanelWidth = new GridLength(320);
-
             _logger.Info("MainViewModel 已初始化");
         }
 
@@ -212,38 +153,6 @@ namespace XplorePlane.ViewModels
             ShowOrActivate(_toolboxWindow, w => _toolboxWindow = w, () => new Views.OperatorToolboxWindow(), "算子工具箱");
         }
 
-        private void ExecuteOpenCncEditor()
-        {
-            if (_isCncEditorMode)
-            {
-                ImagePanelContent = new PipelineEditorView();
-                ViewportPanelWidth = new GridLength(1, GridUnitType.Star);
-                ImagePanelWidth = new GridLength(320);
-                _isCncEditorMode = false;
-                _logger.Info("已退出 CNC 编辑模式");
-                return;
-            }
-
-            ShowCncEditor();
-        }
-
-        private void ExecuteCncEditorAction(Action<CncEditorViewModel> action)
-        {
-            ArgumentNullException.ThrowIfNull(action);
-
-            ShowCncEditor();
-            action(_cncEditorViewModel);
-        }
-
-        private void ShowCncEditor()
-        {
-            ImagePanelContent = _cncPageView;
-            ViewportPanelWidth = new GridLength(1, GridUnitType.Star);
-            ImagePanelWidth = new GridLength(CncEditorHostWidth);
-            _isCncEditorMode = true;
-            _logger.Info("CNC 编辑器已切换到主界面图像区域");
-        }
-
         private void ExecuteOpenUserManual()
         {
             try

XplorePlane/ViewModels/Main/NavigationPropertyPanelViewModel.cs

@@ -176,6 +176,30 @@ namespace XplorePlane.ViewModels
             ApplyPixelFormatCommand = new DelegateCommand(() => ApplyCameraParam(() => _camera.SetPixelFormat(SelectedPixelFormat)), () => IsCameraConnected);
             RefreshCameraParamsCommand = new DelegateCommand(RefreshCameraParams, () => IsCameraConnected);
             OpenCameraSettingsCommand = new DelegateCommand(OpenCameraSettings, () => IsCameraConnected);
+
+            CameraStatusText = "正在检索相机...";
+        }
+
+        /// <summary>
+        /// 相机连接完成后由外部调用，启动实时预览。
+        /// </summary>
+        public void OnCameraReady()
+        {
+            if (!_camera.IsConnected)
+            {
+                CameraStatusText = "未检测到相机";
+                return;
+            }
+
+            _camera.ImageGrabbed += OnCameraImageGrabbed;
+            _camera.GrabError += OnCameraGrabError;
+            _camera.ConnectionLost += OnCameraConnectionLost;
+
+            IsCameraConnected = true;
+            CameraStatusText = "已连接";
+            RefreshCameraParams();
+            StartGrab();
+            IsLiveViewEnabled = true;
         }
 
         #region Camera Methods
@@ -326,15 +350,18 @@ namespace XplorePlane.ViewModels
 
         private void OnCameraImageGrabbed(object? sender, ImageGrabbedEventArgs e)
         {
+            if (_disposed) return;
+
             try
             {
                 var bitmap = PixelConverter.ToBitmapSource(e.PixelData, e.Width, e.Height, e.PixelFormat);
                 var app = Application.Current;
                 if (app == null) return;
 
-                app.Dispatcher.Invoke(() =>
+                app.Dispatcher.BeginInvoke(() =>
                 {
-                    CameraImageSource = bitmap;
+                    if (!_disposed)
+                        CameraImageSource = bitmap;
                 });
 
                 if (_liveViewRunning)
@@ -344,7 +371,8 @@ namespace XplorePlane.ViewModels
             }
             catch (Exception ex)
             {
-                _logger.Error(ex, "Failed to process camera image");
+                if (!_disposed)
+                    _logger.Error(ex, "Failed to process camera image");
             }
         }
 
@@ -354,9 +382,10 @@ namespace XplorePlane.ViewModels
             var app = Application.Current;
             if (app == null) return;
 
-            app.Dispatcher.Invoke(() =>
+            app.Dispatcher.BeginInvoke(() =>
             {
-                CameraStatusText = $"采集错误: {e.ErrorDescription}";
+                if (!_disposed)
+                    CameraStatusText = $"采集错误: {e.ErrorDescription}";
             });
         }
 
@@ -366,8 +395,9 @@ namespace XplorePlane.ViewModels
             var app = Application.Current;
             if (app == null) return;
 
-            app.Dispatcher.Invoke(() =>
+            app.Dispatcher.BeginInvoke(() =>
             {
+                if (_disposed) return;
                 IsCameraConnected = false;
                 IsCameraGrabbing = false;
                 CameraStatusText = "连接已断开";
@@ -382,12 +412,19 @@ namespace XplorePlane.ViewModels
         public void Dispose()
         {
             if (_disposed) return;
+            _disposed = true;
             _liveViewRunning = false;
 
-            try { _camera.Dispose(); }
+            // 先取消事件订阅，防止回调继续触发
-            catch (Exception ex) { _logger.Error(ex, "Error disposing camera"); }
+            _camera.ImageGrabbed -= OnCameraImageGrabbed;
+            _camera.GrabError -= OnCameraGrabError;
+            _camera.ConnectionLost -= OnCameraConnectionLost;
 
-            _disposed = true;
+            // 停止采集后再关闭连接
+            try { if (_camera.IsGrabbing) _camera.StopGrabbing(); } catch { }
+            try { _camera.Close(); } catch { }
+
+            _logger.Information("NavigationPropertyPanelViewModel disposed");
         }
 
         #endregion IDisposable

XplorePlane/Views/Cnc/CncEditorWindow.xaml

@@ -1,15 +1,12 @@
-<Window
+<Window
     x:Class="XplorePlane.Views.Cnc.CncEditorWindow"
     xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
     xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
     xmlns:cnc="clr-namespace:XplorePlane.Views.Cnc"
     Title="CNC 编辑器"
-    Width="1040"
+    Width="350"
-    Height="780"
+    Height="750"
-    MinWidth="960"
-    MinHeight="720"
-    ResizeMode="CanResize"
     ShowInTaskbar="False"
     WindowStartupLocation="CenterOwner">
     <cnc:CncPageView />
-</Window>
+</Window>

XplorePlane/Views/Cnc/CncPageView.xaml

@@ -1,457 +1,297 @@
+<!--  CNC 编辑器主页面视图 | CNC editor main page view  -->
 <UserControl
     x:Class="XplorePlane.Views.Cnc.CncPageView"
     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:local="clr-namespace:XplorePlane.Views.Cnc"
     xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
     xmlns:prism="http://prismlibrary.com/"
-    xmlns:views="clr-namespace:XplorePlane.Views"
+    d:DesignHeight="700"
-    xmlns:vm="clr-namespace:XplorePlane.ViewModels.Cnc"
+    d:DesignWidth="350"
-    d:DesignHeight="760"
-    d:DesignWidth="702"
     prism:ViewModelLocator.AutoWireViewModel="True"
     mc:Ignorable="d">
 
     <UserControl.Resources>
-        <BooleanToVisibilityConverter x:Key="BoolToVisibilityConverter" />
+        <!--  面板背景和边框颜色 | Panel background and border colors  -->
-        <local:NullToVisibilityConverter x:Key="NullToVisibilityConverter" />
-
         <SolidColorBrush x:Key="PanelBg" Color="White" />
-        <SolidColorBrush x:Key="PanelBorder" Color="#CDCBCB" />
+        <SolidColorBrush x:Key="PanelBorder" Color="#cdcbcb" />
-        <SolidColorBrush x:Key="SeparatorBrush" Color="#E5E5E5" />
+        <SolidColorBrush x:Key="SeparatorBrush" Color="#E0E0E0" />
-        <SolidColorBrush x:Key="HeaderBg" Color="#F7F7F7" />
+        <SolidColorBrush x:Key="AccentBlue" Color="#E3F0FF" />
-        <FontFamily x:Key="UiFont">Microsoft YaHei UI</FontFamily>
+        <FontFamily x:Key="CsdFont">Microsoft YaHei UI</FontFamily>
 
-        <Style x:Key="TreeItemStyle" TargetType="TreeViewItem">
+        <!--  节点列表项样式 | Node list item style  -->
-            <Setter Property="IsExpanded" Value="{Binding IsExpanded, Mode=TwoWay}" />
+        <Style x:Key="CncNodeItemStyle" TargetType="ListBoxItem">
             <Setter Property="Padding" Value="0" />
             <Setter Property="Margin" Value="0" />
             <Setter Property="HorizontalContentAlignment" Value="Stretch" />
         </Style>
 
-        <Style x:Key="EditorTitle" TargetType="TextBlock">
+        <!--  工具栏按钮样式 | Toolbar button style  -->
-            <Setter Property="FontFamily" Value="{StaticResource UiFont}" />
+        <Style x:Key="ToolbarBtn" TargetType="Button">
-            <Setter Property="FontSize" Value="13" />
-            <Setter Property="FontWeight" Value="SemiBold" />
-            <Setter Property="Margin" Value="0,0,0,8" />
-        </Style>
-
-        <Style x:Key="LabelStyle" TargetType="TextBlock">
-            <Setter Property="FontFamily" Value="{StaticResource UiFont}" />
-            <Setter Property="FontSize" Value="11" />
-            <Setter Property="Foreground" Value="#666666" />
-            <Setter Property="Margin" Value="0,0,0,3" />
-        </Style>
-
-        <Style x:Key="EditorBox" TargetType="TextBox">
             <Setter Property="Height" Value="28" />
-            <Setter Property="Padding" Value="8,3" />
+            <Setter Property="Margin" Value="2,0" />
-            <Setter Property="Margin" Value="0,0,0,8" />
+            <Setter Property="Padding" Value="6,0" />
-            <Setter Property="BorderBrush" Value="#CFCFCF" />
+            <Setter Property="Background" Value="Transparent" />
+            <Setter Property="BorderBrush" Value="#cdcbcb" />
             <Setter Property="BorderThickness" Value="1" />
-            <Setter Property="FontFamily" Value="{StaticResource UiFont}" />
+            <Setter Property="FontFamily" Value="Microsoft YaHei UI" />
-            <Setter Property="FontSize" Value="11" />
-        </Style>
-
-        <Style x:Key="EditorCheck" TargetType="CheckBox">
-            <Setter Property="Margin" Value="0,2,0,8" />
-            <Setter Property="FontFamily" Value="{StaticResource UiFont}" />
-            <Setter Property="FontSize" Value="11" />
-        </Style>
-
-        <Style x:Key="CompactGroupBox" TargetType="GroupBox">
-            <Setter Property="Margin" Value="0,0,0,10" />
-            <Setter Property="Padding" Value="0" />
-            <Setter Property="FontFamily" Value="{StaticResource UiFont}" />
             <Setter Property="FontSize" Value="11" />
+            <Setter Property="Cursor" Value="Hand" />
         </Style>
     </UserControl.Resources>
 
     <Border
-        Width="702"
-        MinWidth="702"
-        HorizontalAlignment="Left"
         Background="{StaticResource PanelBg}"
         BorderBrush="{StaticResource PanelBorder}"
         BorderThickness="1"
         CornerRadius="4">
         <Grid>
-            <Grid.ColumnDefinitions>
+            <Grid.RowDefinitions>
-                <ColumnDefinition Width="200" />
+                <!--  Row 0: 工具栏 | Toolbar  -->
-                <ColumnDefinition Width="1" />
+                <RowDefinition Height="Auto" />
-                <ColumnDefinition Width="250" />
+                <!--  Row 1: 主内容区（左侧节点列表 + 右侧参数面板）| Main content (left: node list, right: parameter panel)  -->
-                <ColumnDefinition Width="1" />
+                <RowDefinition Height="*" />
-                <ColumnDefinition Width="250" />
+            </Grid.RowDefinitions>
-            </Grid.ColumnDefinitions>
 
-            <Grid Grid.Column="0">
+            <!--  ═══ 工具栏：节点插入命令 + 文件操作命令 | Toolbar: node insert commands + file operation commands ═══  -->
-                <Grid.RowDefinitions>
+            <Border
-                    <RowDefinition Height="Auto" />
+                Grid.Row="0"
-                    <RowDefinition Height="*" />
+                Padding="6,4"
-                </Grid.RowDefinitions>
+                Background="#F5F5F5"
+                BorderBrush="{StaticResource PanelBorder}"
+                BorderThickness="0,0,0,1">
+                <WrapPanel Orientation="Horizontal">
+                    <!--  文件操作按钮 | File operation buttons  -->
+                    <Button
+                        Command="{Binding NewProgramCommand}"
+                        Content="新建"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="新建程序 | New Program" />
+                    <Button
+                        Command="{Binding SaveProgramCommand}"
+                        Content="保存"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="保存程序 | Save Program" />
+                    <Button
+                        Command="{Binding LoadProgramCommand}"
+                        Content="加载"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="加载程序 | Load Program" />
+                    <Button
+                        Command="{Binding ExportCsvCommand}"
+                        Content="导出CSV"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="导出 CSV | Export CSV" />
 
-                <Border
+                    <!--  分隔线 | Separator  -->
-                    Grid.Row="0"
+                    <Rectangle
-                    Padding="10,8"
+                        Width="1"
-                    Background="{StaticResource HeaderBg}"
+                        Height="20"
-                    BorderBrush="{StaticResource SeparatorBrush}"
+                        Margin="4,0"
-                    BorderThickness="0,0,0,1">
+                        Fill="{StaticResource SeparatorBrush}" />
-                    <StackPanel>
-                        <TextBlock
-                            FontFamily="{StaticResource UiFont}"
-                            FontSize="13"
-                            FontWeight="SemiBold"
-                            Text="{Binding ProgramName, TargetNullValue=CNC编辑}"
-                            TextWrapping="Wrap" />
-                        <TextBlock
-                            Margin="0,3,0,0"
-                            FontFamily="{StaticResource UiFont}"
-                            FontSize="10"
-                            Foreground="#666666"
-                            Text="模块节点下会自动显示标记、等待、消息等子节点。"
-                            TextWrapping="Wrap" />
-                    </StackPanel>
-                </Border>
 
-                <TreeView
+                    <!--  节点插入按钮（9 种节点类型）| Node insert buttons (9 node types)  -->
-                    x:Name="CncTreeView"
+                    <Button
-                    Grid.Row="1"
+                        Command="{Binding InsertReferencePointCommand}"
-                    Padding="4,6"
+                        Content="参考点"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="插入参考点 | Insert Reference Point" />
+                    <Button
+                        Command="{Binding InsertSaveNodeWithImageCommand}"
+                        Content="保存+图"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="保存节点并保存图片 | Save Node With Image" />
+                    <Button
+                        Command="{Binding InsertSaveNodeCommand}"
+                        Content="保存节点"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="仅保存节点 | Save Node" />
+                    <Button
+                        Command="{Binding InsertSavePositionCommand}"
+                        Content="保存位置"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="保存位置 | Save Position" />
+                    <Button
+                        Command="{Binding InsertInspectionModuleCommand}"
+                        Content="检测模块"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="插入检测模块 | Insert Inspection Module" />
+                    <Button
+                        Command="{Binding InsertInspectionMarkerCommand}"
+                        Content="检测标记"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="插入检测标记 | Insert Inspection Marker" />
+                    <Button
+                        Command="{Binding InsertPauseDialogCommand}"
+                        Content="停顿"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="插入停顿对话框 | Insert Pause Dialog" />
+                    <Button
+                        Command="{Binding InsertWaitDelayCommand}"
+                        Content="延时"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="设置等待延时 | Insert Wait Delay" />
+                    <Button
+                        Command="{Binding InsertCompleteProgramCommand}"
+                        Content="完成"
+                        Style="{StaticResource ToolbarBtn}"
+                        ToolTip="完成程序 | Complete Program" />
+                </WrapPanel>
+            </Border>
+
+            <!--  ═══ 主内容区：左侧节点列表 + 右侧参数面板 | Main content: left node list + right parameter panel ═══  -->
+            <Grid Grid.Row="1">
+                <Grid.ColumnDefinitions>
+                    <!--  左侧：节点列表 | Left: node list  -->
+                    <ColumnDefinition Width="3*" MinWidth="150" />
+                    <!--  分隔线 | Splitter  -->
+                    <ColumnDefinition Width="Auto" />
+                    <!--  右侧：参数面板 | Right: parameter panel  -->
+                    <ColumnDefinition Width="2*" MinWidth="150" />
+                </Grid.ColumnDefinitions>
+
+                <!--  ── 左侧：CNC 节点列表 | Left: CNC node list ──  -->
+                <ListBox
+                    x:Name="CncNodeListBox"
+                    Grid.Column="0"
                     Background="Transparent"
                     BorderThickness="0"
-                    ItemsSource="{Binding TreeNodes}"
+                    ItemContainerStyle="{StaticResource CncNodeItemStyle}"
-                    SelectedItemChanged="CncTreeView_SelectedItemChanged">
+                    ItemsSource="{Binding Nodes}"
-                    <TreeView.Resources>
+                    ScrollViewer.HorizontalScrollBarVisibility="Disabled"
-                        <HierarchicalDataTemplate DataType="{x:Type vm:CncNodeViewModel}" ItemsSource="{Binding Children}">
+                    SelectedItem="{Binding SelectedNode, Mode=TwoWay}">
-                            <Grid x:Name="NodeRoot" MinHeight="34">
+                    <ListBox.ItemTemplate>
+                        <DataTemplate>
+                            <Grid x:Name="NodeRoot" MinHeight="40">
                                 <Grid.ColumnDefinitions>
-                                    <ColumnDefinition Width="30" />
+                                    <!--  图标列 | Icon column  -->
+                                    <ColumnDefinition Width="40" />
+                                    <!--  名称列 | Name column  -->
                                     <ColumnDefinition Width="*" />
+                                    <!--  操作按钮列 | Action buttons column  -->
                                     <ColumnDefinition Width="Auto" />
                                 </Grid.ColumnDefinitions>
 
+                                <!--  节点图标 | Node icon  -->
                                 <Border
                                     Grid.Column="0"
-                                    Width="22"
+                                    Width="28"
-                                    Height="22"
+                                    Height="28"
                                     HorizontalAlignment="Center"
                                     VerticalAlignment="Center"
-                                    Background="Transparent"
+                                    Background="#E8F0FE"
+                                    BorderBrush="#5B9BD5"
+                                    BorderThickness="1.5"
                                     CornerRadius="4">
                                     <Image
-                                        Width="15"
+                                        Width="20"
-                                        Height="15"
+                                        Height="20"
                                         Source="{Binding Icon}"
                                         Stretch="Uniform" />
                                 </Border>
 
+                                <!--  节点序号和名称 | Node index and name  -->
                                 <StackPanel
                                     Grid.Column="1"
-                                    Margin="4,0,0,0"
+                                    Margin="6,0,0,0"
                                     VerticalAlignment="Center"
                                     Orientation="Horizontal">
                                     <TextBlock
                                         VerticalAlignment="Center"
-                                        FontFamily="{StaticResource UiFont}"
+                                        FontFamily="Microsoft YaHei UI"
-                                        FontSize="10.5"
+                                        FontSize="11"
-                                        Foreground="#888888"
+                                        Foreground="#888"
                                         Text="{Binding Index, StringFormat='[{0}] '}" />
                                     <TextBlock
                                         VerticalAlignment="Center"
-                                        FontFamily="{StaticResource UiFont}"
+                                        FontFamily="Microsoft YaHei UI"
-                                        FontSize="11.5"
+                                        FontSize="12"
                                         Text="{Binding Name}" />
                                 </StackPanel>
 
+                                <!--  悬停操作按钮：上移 / 下移 / 删除 | Hover actions: MoveUp / MoveDown / Delete  -->
                                 <StackPanel
                                     x:Name="NodeActions"
                                     Grid.Column="2"
-                                    Margin="0,0,2,0"
+                                    Margin="0,0,4,0"
                                     VerticalAlignment="Center"
                                     Orientation="Horizontal"
                                     Visibility="Collapsed">
                                     <Button
-                                        Width="20"
+                                        Width="22"
-                                        Height="20"
+                                        Height="22"
                                         Margin="1,0"
-                                        Background="White"
+                                        Background="Transparent"
-                                        BorderBrush="#CDCBCB"
+                                        BorderBrush="#cdcbcb"
                                         BorderThickness="1"
-                                        Command="{Binding DataContext.MoveNodeUpCommand, RelativeSource={RelativeSource AncestorType=TreeView}}"
+                                        Command="{Binding DataContext.MoveNodeUpCommand, RelativeSource={RelativeSource AncestorType=ListBox}}"
                                         CommandParameter="{Binding}"
-                                        Content="上"
+                                        Content="▲"
                                         Cursor="Hand"
                                         FontSize="10"
-                                        ToolTip="上移" />
+                                        ToolTip="上移 | Move Up" />
                                     <Button
-                                        Width="20"
+                                        Width="22"
-                                        Height="20"
+                                        Height="22"
                                         Margin="1,0"
-                                        Background="White"
+                                        Background="Transparent"
-                                        BorderBrush="#CDCBCB"
+                                        BorderBrush="#cdcbcb"
                                         BorderThickness="1"
-                                        Command="{Binding DataContext.MoveNodeDownCommand, RelativeSource={RelativeSource AncestorType=TreeView}}"
+                                        Command="{Binding DataContext.MoveNodeDownCommand, RelativeSource={RelativeSource AncestorType=ListBox}}"
                                         CommandParameter="{Binding}"
-                                        Content="下"
+                                        Content="▼"
                                         Cursor="Hand"
                                         FontSize="10"
-                                        ToolTip="下移" />
+                                        ToolTip="下移 | Move Down" />
                                     <Button
-                                        Width="20"
+                                        Width="22"
-                                        Height="20"
+                                        Height="22"
                                         Margin="1,0"
-                                        Background="White"
+                                        Background="Transparent"
                                         BorderBrush="#E05050"
                                         BorderThickness="1"
-                                        Command="{Binding DataContext.DeleteNodeCommand, RelativeSource={RelativeSource AncestorType=TreeView}}"
+                                        Command="{Binding DataContext.DeleteNodeCommand, RelativeSource={RelativeSource AncestorType=ListBox}}"
-                                        Content="删"
+                                        Content="✕"
                                         Cursor="Hand"
                                         FontSize="10"
-                                        ToolTip="删除" />
+                                        ToolTip="删除 | Delete" />
                                 </StackPanel>
                             </Grid>
                             <DataTemplate.Triggers>
+                                <!--  鼠标悬停时显示操作按钮 | Show action buttons on mouse hover  -->
                                 <Trigger SourceName="NodeRoot" Property="IsMouseOver" Value="True">
                                     <Setter TargetName="NodeActions" Property="Visibility" Value="Visible" />
                                 </Trigger>
                             </DataTemplate.Triggers>
-                        </HierarchicalDataTemplate>
+                        </DataTemplate>
-                    </TreeView.Resources>
+                    </ListBox.ItemTemplate>
-                    <TreeView.ItemContainerStyle>
+                </ListBox>
-                        <Style BasedOn="{StaticResource TreeItemStyle}" TargetType="TreeViewItem" />
-                    </TreeView.ItemContainerStyle>
-                </TreeView>
-            </Grid>
 
-            <Rectangle
+                <!--  垂直分隔线 | Vertical separator  -->
-                Grid.Column="1"
+                <Rectangle
-                Width="1"
+                    Grid.Column="1"
-                Fill="{StaticResource SeparatorBrush}" />
+                    Width="1"
+                    Fill="{StaticResource SeparatorBrush}" />
 
-            <ScrollViewer Grid.Column="2" VerticalScrollBarVisibility="Auto">
+                <!--  ── 右侧：参数面板（根据节点类型动态渲染）| Right: parameter panel (dynamic rendering by node type) ──  -->
-                <Grid Margin="10">
+                <ScrollViewer
-                    <StackPanel Visibility="{Binding SelectedNode, Converter={StaticResource NullToVisibilityConverter}}">
+                    Grid.Column="2"
-                        <TextBlock Style="{StaticResource EditorTitle}" Text="节点属性" />
+                    HorizontalScrollBarVisibility="Disabled"
-
+                    VerticalScrollBarVisibility="Auto">
-                        <TextBlock Style="{StaticResource LabelStyle}" Text="名称" />
+                    <StackPanel Margin="8,6">
-                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Name, UpdateSourceTrigger=PropertyChanged}" />
-
-                        <UniformGrid Columns="2" Margin="0,0,0,8">
-                            <StackPanel Margin="0,0,6,0">
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="索引" />
-                                <TextBox Style="{StaticResource EditorBox}" IsReadOnly="True" Text="{Binding SelectedNode.Index, Mode=OneWay}" />
-                            </StackPanel>
-                            <StackPanel>
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="类型" />
-                                <TextBox Style="{StaticResource EditorBox}" IsReadOnly="True" Text="{Binding SelectedNode.NodeTypeDisplay, Mode=OneWay}" />
-                            </StackPanel>
-                        </UniformGrid>
-
-                        <GroupBox
-                            Style="{StaticResource CompactGroupBox}"
-                            Header="运动参数"
-                            Visibility="{Binding SelectedNode.IsMotionSnapshotNode, Converter={StaticResource BoolToVisibilityConverter}}">
-                            <UniformGrid Margin="8,8,8,6" Columns="2">
-                                <StackPanel Margin="0,0,6,0">
-                                    <TextBlock Style="{StaticResource LabelStyle}" Text="XM" />
-                                    <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.XM, UpdateSourceTrigger=LostFocus}" />
-                                </StackPanel>
-                                <StackPanel>
-                                    <TextBlock Style="{StaticResource LabelStyle}" Text="YM" />
-                                    <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.YM, UpdateSourceTrigger=LostFocus}" />
-                                </StackPanel>
-                                <StackPanel Margin="0,0,6,0">
-                                    <TextBlock Style="{StaticResource LabelStyle}" Text="ZT" />
-                                    <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.ZT, UpdateSourceTrigger=LostFocus}" />
-                                </StackPanel>
-                                <StackPanel>
-                                    <TextBlock Style="{StaticResource LabelStyle}" Text="ZD" />
-                                    <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.ZD, UpdateSourceTrigger=LostFocus}" />
-                                </StackPanel>
-                                <StackPanel Margin="0,0,6,0">
-                                    <TextBlock Style="{StaticResource LabelStyle}" Text="TiltD" />
-                                    <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.TiltD, UpdateSourceTrigger=LostFocus}" />
-                                </StackPanel>
-                                <StackPanel>
-                                    <TextBlock Style="{StaticResource LabelStyle}" Text="Dist" />
-                                    <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Dist, UpdateSourceTrigger=LostFocus}" />
-                                </StackPanel>
-                            </UniformGrid>
-                        </GroupBox>
-
-                        <GroupBox
-                            Style="{StaticResource CompactGroupBox}"
-                            Header="射线源"
-                            Visibility="{Binding SelectedNode.IsReferencePoint, Converter={StaticResource BoolToVisibilityConverter}}">
-                            <StackPanel Margin="8,8,8,6">
-                                <CheckBox Style="{StaticResource EditorCheck}" Content="射线源开启" IsChecked="{Binding SelectedNode.IsRayOn}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="电压 (kV)" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Voltage, UpdateSourceTrigger=LostFocus}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="电流 (uA)" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Current, UpdateSourceTrigger=LostFocus}" />
-                            </StackPanel>
-                        </GroupBox>
-
-                        <GroupBox
-                            Style="{StaticResource CompactGroupBox}"
-                            Header="保存参数"
-                            Visibility="{Binding SelectedNode.IsSaveNode, Converter={StaticResource BoolToVisibilityConverter}}">
-                            <StackPanel Margin="8,8,8,6">
-                                <CheckBox Style="{StaticResource EditorCheck}" Content="射线源开启" IsChecked="{Binding SelectedNode.IsRayOn}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="电压 (kV)" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Voltage, UpdateSourceTrigger=LostFocus}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="功率 (W)" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Power, UpdateSourceTrigger=LostFocus}" />
-                                <CheckBox Style="{StaticResource EditorCheck}" Content="探测器已连接" IsChecked="{Binding SelectedNode.DetectorConnected}" />
-                                <CheckBox Style="{StaticResource EditorCheck}" Content="探测器正在采集" IsChecked="{Binding SelectedNode.DetectorAcquiring}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="帧率" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FrameRate, UpdateSourceTrigger=LostFocus}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="分辨率" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Resolution, UpdateSourceTrigger=PropertyChanged}" />
-                            </StackPanel>
-                        </GroupBox>
-
-                        <GroupBox
-                            Style="{StaticResource CompactGroupBox}"
-                            Header="保存参数"
-                            Visibility="{Binding SelectedNode.IsSaveNodeWithImage, Converter={StaticResource BoolToVisibilityConverter}}">
-                            <StackPanel Margin="8,8,8,6">
-                                <CheckBox Style="{StaticResource EditorCheck}" Content="射线源开启" IsChecked="{Binding SelectedNode.IsRayOn}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="电压 (kV)" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Voltage, UpdateSourceTrigger=LostFocus}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="功率 (W)" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Power, UpdateSourceTrigger=LostFocus}" />
-                                <CheckBox Style="{StaticResource EditorCheck}" Content="探测器已连接" IsChecked="{Binding SelectedNode.DetectorConnected}" />
-                                <CheckBox Style="{StaticResource EditorCheck}" Content="探测器正在采集" IsChecked="{Binding SelectedNode.DetectorAcquiring}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="帧率" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FrameRate, UpdateSourceTrigger=LostFocus}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="分辨率" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Resolution, UpdateSourceTrigger=PropertyChanged}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="图像文件" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.ImageFileName, UpdateSourceTrigger=PropertyChanged}" />
-                            </StackPanel>
-                        </GroupBox>
-
-                        <GroupBox
-                            Style="{StaticResource CompactGroupBox}"
-                            Header="检测模块"
-                            Visibility="{Binding SelectedNode.IsInspectionModule, Converter={StaticResource BoolToVisibilityConverter}}">
-                            <StackPanel Margin="8,8,8,6">
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="Pipeline 名称" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.PipelineName, UpdateSourceTrigger=PropertyChanged}" />
-                            </StackPanel>
-                        </GroupBox>
-
-                        <GroupBox
-                            Style="{StaticResource CompactGroupBox}"
-                            Header="标记参数"
-                            Visibility="{Binding SelectedNode.IsInspectionMarker, Converter={StaticResource BoolToVisibilityConverter}}">
-                            <StackPanel Margin="8,8,8,6">
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="标记类型" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.MarkerType, UpdateSourceTrigger=PropertyChanged}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="MarkerX" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.MarkerX, UpdateSourceTrigger=LostFocus}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="MarkerY" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.MarkerY, UpdateSourceTrigger=LostFocus}" />
-                            </StackPanel>
-                        </GroupBox>
-
-                        <GroupBox
-                            Style="{StaticResource CompactGroupBox}"
-                            Header="消息弹窗"
-                            Visibility="{Binding SelectedNode.IsPauseDialog, Converter={StaticResource BoolToVisibilityConverter}}">
-                            <StackPanel Margin="8,8,8,6">
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="标题" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DialogTitle, UpdateSourceTrigger=PropertyChanged}" />
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="消息内容" />
-                                <TextBox
-                                    MinHeight="68"
-                                    Margin="0,0,0,8"
-                                    Padding="8,6"
-                                    AcceptsReturn="True"
-                                    BorderBrush="#CFCFCF"
-                                    BorderThickness="1"
-                                    FontFamily="{StaticResource UiFont}"
-                                    FontSize="11"
-                                    Text="{Binding SelectedNode.DialogMessage, UpdateSourceTrigger=PropertyChanged}"
-                                    TextWrapping="Wrap" />
-                            </StackPanel>
-                        </GroupBox>
-
-                        <GroupBox
-                            Style="{StaticResource CompactGroupBox}"
-                            Header="等待参数"
-                            Visibility="{Binding SelectedNode.IsWaitDelay, Converter={StaticResource BoolToVisibilityConverter}}">
-                            <StackPanel Margin="10,8,10,6">
-                                <TextBlock Style="{StaticResource LabelStyle}" Text="延时 (ms)" />
-                                <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DelayMilliseconds, UpdateSourceTrigger=LostFocus}" />
-                            </StackPanel>
-                        </GroupBox>
-                    </StackPanel>
-
-                    <Border
-                        Padding="12"
-                        Background="#FAFAFA"
-                        BorderBrush="#E6E6E6"
-                        BorderThickness="1"
-                        CornerRadius="6"
-                        Visibility="{Binding SelectedNode, Converter={StaticResource NullToVisibilityConverter}, ConverterParameter=Invert}">
-                        <StackPanel>
-                            <TextBlock
-                                FontFamily="{StaticResource UiFont}"
-                                FontSize="13"
-                                FontWeight="SemiBold"
-                                Text="未选择节点"
-                                TextWrapping="Wrap" />
-                            <TextBlock
-                                Margin="0,6,0,0"
-                                FontFamily="{StaticResource UiFont}"
-                                FontSize="10"
-                                Foreground="#666666"
-                                Text="从左侧树中选择一个节点后，这里会显示可编辑的参数。"
-                                TextWrapping="Wrap" />
-                        </StackPanel>
-                    </Border>
-                </Grid>
-            </ScrollViewer>
-
-            <Rectangle
-                Grid.Column="3"
-                Width="1"
-                Fill="{StaticResource SeparatorBrush}" />
-
-            <Grid Grid.Column="4">
-                <views:PipelineEditorView
-                    x:Name="InspectionModulePipelineEditor"
-                    Visibility="{Binding EditorVisibility}" />
-
-                <Border
-                    x:Name="InspectionModulePipelineEmptyState"
-                    Margin="12"
-                    Padding="16"
-                    Background="#FAFAFA"
-                    BorderBrush="#E6E6E6"
-                    BorderThickness="1"
-                    CornerRadius="6"
-                    Visibility="{Binding EmptyStateVisibility}">
-                    <StackPanel>
                         <TextBlock
-                            FontFamily="{StaticResource UiFont}"
+                            Margin="0,0,0,4"
-                            FontSize="13"
+                            FontFamily="{StaticResource CsdFont}"
-                            FontWeight="SemiBold"
+                            FontSize="11"
-                            Text="未选择检测模块"
+                            FontWeight="Bold"
-                            TextWrapping="Wrap" />
+                            Foreground="#555"
-                        <TextBlock
+                            Text="参数配置" />
-                            Margin="0,6,0,0"
+
-                            FontFamily="{StaticResource UiFont}"
+                        <!--  动态参数内容区域（占位：根据 SelectedNode 类型渲染）| Dynamic parameter content area (placeholder for node-type-based rendering)  -->
-                            FontSize="10"
+                        <ContentControl Content="{Binding SelectedNode}" />
-                            Foreground="#666666"
-                            Text="请选择一个检测模块节点后，在这里拖拽算子并配置参数。"
-                            TextWrapping="Wrap" />
                     </StackPanel>
-                </Border>
+                </ScrollViewer>
             </Grid>
         </Grid>
     </Border>
-</UserControl>
+</UserControl>

XplorePlane/Views/Cnc/CncPageView.xaml.cs

@@ -1,94 +1,16 @@
-using Prism.Ioc;
-using System;
-using System.Globalization;
-using System.Windows;
 using System.Windows.Controls;
-using System.Windows.Data;
-using XP.Common.Logging.Interfaces;
-using XplorePlane.Services;
-using XplorePlane.ViewModels.Cnc;
 
 namespace XplorePlane.Views.Cnc
 {
     /// <summary>
-    /// CNC editor main page view.
+    /// CNC 编辑器主页面视图（MVVM 模式，逻辑在 ViewModel 中）
+    /// CNC editor main page view (MVVM pattern, logic in ViewModel)
     /// </summary>
     public partial class CncPageView : UserControl
     {
-        private CncInspectionModulePipelineViewModel _inspectionModulePipelineViewModel;
-
         public CncPageView()
         {
             InitializeComponent();
-            Loaded += OnLoaded;
-        }
-
-        private void OnLoaded(object sender, RoutedEventArgs e)
-        {
-            CncEditorViewModel editorViewModel = DataContext as CncEditorViewModel;
-            if (editorViewModel == null)
-            {
-                try
-                {
-                    editorViewModel = ContainerLocator.Current?.Resolve<CncEditorViewModel>();
-                    DataContext = editorViewModel;
-                }
-                catch (Exception)
-                {
-                    // keep existing DataContext if resolution fails
-                }
-            }
-
-            if (editorViewModel == null || _inspectionModulePipelineViewModel != null)
-                return;
-
-            try
-            {
-                var imageProcessingService = ContainerLocator.Current.Resolve<IImageProcessingService>();
-                var persistenceService = ContainerLocator.Current.Resolve<IPipelinePersistenceService>();
-                var logger = ContainerLocator.Current.Resolve<ILoggerService>();
-
-                _inspectionModulePipelineViewModel = new CncInspectionModulePipelineViewModel(
-                    editorViewModel,
-                    imageProcessingService,
-                    persistenceService,
-                    logger);
-
-                InspectionModulePipelineEditor.DataContext = _inspectionModulePipelineViewModel;
-                InspectionModulePipelineEmptyState.DataContext = _inspectionModulePipelineViewModel;
-            }
-            catch (Exception)
-            {
-                // keep page usable even if pipeline editor host setup fails
-            }
-        }
-
-        private void CncTreeView_SelectedItemChanged(object sender, RoutedPropertyChangedEventArgs<object> e)
-        {
-            if (DataContext is CncEditorViewModel viewModel)
-            {
-                viewModel.SelectedNode = e.NewValue as CncNodeViewModel;
-            }
         }
     }
-
+}
-    public class NullToVisibilityConverter : IValueConverter
-    {
-        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
-        {
-            var invert = string.Equals(parameter as string, "Invert", StringComparison.OrdinalIgnoreCase);
-            var isVisible = value != null;
-            if (invert)
-            {
-                isVisible = !isVisible;
-            }
-
-            return isVisible ? Visibility.Visible : Visibility.Collapsed;
-        }
-
-        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
-        {
-            throw new NotSupportedException();
-        }
-    }
-}

XplorePlane/Views/ImageProcessing/PipelineEditorView.xaml

@@ -11,23 +11,25 @@
 
     <UserControl.Resources>
         <SolidColorBrush x:Key="PanelBg" Color="White" />
-        <SolidColorBrush x:Key="PanelBorder" Color="#CDCBCB" />
+        <SolidColorBrush x:Key="PanelBorder" Color="#cdcbcb" />
         <SolidColorBrush x:Key="SeparatorBrush" Color="#E0E0E0" />
         <SolidColorBrush x:Key="AccentBlue" Color="#E3F0FF" />
         <FontFamily x:Key="CsdFont">Microsoft YaHei UI</FontFamily>
 
+        <!--  节点项样式  -->
         <Style x:Key="PipelineNodeItemStyle" TargetType="ListBoxItem">
             <Setter Property="Padding" Value="0" />
             <Setter Property="Margin" Value="0" />
             <Setter Property="HorizontalContentAlignment" Value="Stretch" />
         </Style>
 
+        <!--  工具栏按钮样式  -->
         <Style x:Key="ToolbarBtn" TargetType="Button">
-            <Setter Property="Width" Value="52" />
+            <Setter Property="Width" Value="28" />
             <Setter Property="Height" Value="28" />
             <Setter Property="Margin" Value="2,0" />
             <Setter Property="Background" Value="Transparent" />
-            <Setter Property="BorderBrush" Value="#CDCBCB" />
+            <Setter Property="BorderBrush" Value="#cdcbcb" />
             <Setter Property="BorderThickness" Value="1" />
             <Setter Property="FontFamily" Value="Microsoft YaHei UI" />
             <Setter Property="FontSize" Value="11" />
@@ -42,13 +44,21 @@
         CornerRadius="4">
         <Grid>
             <Grid.RowDefinitions>
+                <!--  Row 0: 工具栏  -->
                 <RowDefinition Height="Auto" />
+     
+                <!--  Row 2: 流水线节点列表  -->
                 <RowDefinition Height="2*" MinHeight="180" />
+                <!--  Row 3: 分隔线  -->
                 <RowDefinition Height="Auto" />
+                <!--  Row 4: 参数面板  -->
                 <RowDefinition Height="2*" MinHeight="80" />
+                <!--  Row 5: 状态栏  -->
                 <RowDefinition Height="Auto" />
             </Grid.RowDefinitions>
 
+            <!--  标题栏：流水线名称 + 设备选择  -->
+            <!--  工具栏  -->
             <Border
                 Grid.Row="0"
                 Padding="6,4"
@@ -66,23 +76,50 @@
                             Command="{Binding SavePipelineCommand}"
                             Content="保存"
                             Style="{StaticResource ToolbarBtn}"
-                            ToolTip="保存当前检测模块流水线" />
+                            ToolTip="保存流水线" />
                         <Button
-                            Width="60"
+                            Width="43"
                             Command="{Binding SaveAsPipelineCommand}"
                             Content="另存为"
                             Style="{StaticResource ToolbarBtn}"
-                            ToolTip="导出当前检测模块流水线" />
+                            ToolTip="另存为" />
                         <Button
-                            Width="52"
+                            Width="43"
                             Command="{Binding LoadPipelineCommand}"
                             Content="加载"
                             Style="{StaticResource ToolbarBtn}"
-                            ToolTip="将流水线模板加载到当前检测模块" />
+                            ToolTip="加载流水线" />
+                        <!--
+                        <Button
+                            Width="64"
+                            Command="{Binding LoadImageCommand}"
+                            Content="加载图像"
+                            Style="{StaticResource ToolbarBtn}"
+                            ToolTip="加载输入图像" />
+                        -->
+                        <Button
+                            Command="{Binding ExecutePipelineCommand}"
+                            Content="▶"
+                            Style="{StaticResource ToolbarBtn}"
+                            ToolTip="执行流水线" />
+                        <Button
+                            Command="{Binding CancelExecutionCommand}"
+                            Content="■"
+                            Style="{StaticResource ToolbarBtn}"
+                            ToolTip="取消执行" />
+                        <Button
+                            Command="{Binding DeletePipelineCommand}"
+                            Content="🗑"
+                            Style="{StaticResource ToolbarBtn}"
+                            ToolTip="工具箱" />
                     </StackPanel>
                 </Grid>
             </Border>
 
+       
+   
+
+            <!--  流水线节点列表（拖拽目标）  -->
             <ListBox
                 x:Name="PipelineListBox"
                 Grid.Row="1"
@@ -101,6 +138,7 @@
                                 <ColumnDefinition Width="Auto" />
                             </Grid.ColumnDefinitions>
 
+                            <!--  连接线列：上半段 + 下半段  -->
                             <Line
                                 x:Name="TopLine"
                                 HorizontalAlignment="Center"
@@ -121,6 +159,7 @@
                                 Y1="0"
                                 Y2="14" />
 
+                            <!--  算子图标  -->
                             <Border
                                 Grid.Column="0"
                                 Width="28"
@@ -138,6 +177,7 @@
                                     Text="{Binding IconPath}" />
                             </Border>
 
+                            <!--  算子名称  -->
                             <TextBlock
                                 Grid.Column="1"
                                 Margin="6,0,0,0"
@@ -146,6 +186,7 @@
                                 FontSize="12"
                                 Text="{Binding DisplayName}" />
 
+                            <!--  操作按钮：上移 / 下移 / 删除（悬停显示）  -->
                             <StackPanel
                                 x:Name="NodeActions"
                                 Grid.Column="2"
@@ -158,11 +199,11 @@
                                     Height="22"
                                     Margin="1,0"
                                     Background="Transparent"
-                                    BorderBrush="#CDCBCB"
+                                    BorderBrush="#cdcbcb"
                                     BorderThickness="1"
                                     Command="{Binding DataContext.MoveNodeUpCommand, RelativeSource={RelativeSource AncestorType=ListBox}}"
                                     CommandParameter="{Binding}"
-                                    Content="上"
+                                    Content="▲"
                                     Cursor="Hand"
                                     FontSize="10"
                                     ToolTip="上移" />
@@ -171,11 +212,11 @@
                                     Height="22"
                                     Margin="1,0"
                                     Background="Transparent"
-                                    BorderBrush="#CDCBCB"
+                                    BorderBrush="#cdcbcb"
                                     BorderThickness="1"
                                     Command="{Binding DataContext.MoveNodeDownCommand, RelativeSource={RelativeSource AncestorType=ListBox}}"
                                     CommandParameter="{Binding}"
-                                    Content="下"
+                                    Content="▼"
                                     Cursor="Hand"
                                     FontSize="10"
                                     ToolTip="下移" />
@@ -188,7 +229,7 @@
                                     BorderThickness="1"
                                     Command="{Binding DataContext.RemoveOperatorCommand, RelativeSource={RelativeSource AncestorType=ListBox}}"
                                     CommandParameter="{Binding}"
-                                    Content="删"
+                                    Content="✕"
                                     Cursor="Hand"
                                     FontSize="10"
                                     ToolTip="删除" />
@@ -205,12 +246,13 @@
                     </DataTemplate>
                 </ListBox.ItemTemplate>
             </ListBox>
-
+            <!--  分隔线  -->
             <Rectangle
                 Grid.Row="2"
                 Height="1"
                 Fill="{StaticResource SeparatorBrush}" />
 
+            <!--  参数面板  -->
             <ScrollViewer
                 Grid.Row="3"
                 HorizontalScrollBarVisibility="Disabled"
@@ -241,14 +283,14 @@
                                     <TextBox
                                         Grid.Column="1"
                                         Padding="4,2"
-                                        BorderBrush="#CDCBCB"
+                                        BorderBrush="#cdcbcb"
                                         BorderThickness="1"
                                         FontFamily="Microsoft YaHei UI"
                                         FontSize="11"
                                         Text="{Binding Value, UpdateSourceTrigger=PropertyChanged}">
                                         <TextBox.Style>
                                             <Style TargetType="TextBox">
-                                                <Setter Property="BorderBrush" Value="#CDCBCB" />
+                                                <Setter Property="BorderBrush" Value="#cdcbcb" />
                                                 <Setter Property="Background" Value="White" />
                                                 <Style.Triggers>
                                                     <DataTrigger Binding="{Binding IsValueValid}" Value="False">
@@ -266,6 +308,7 @@
                 </StackPanel>
             </ScrollViewer>
 
+            <!--  状态栏  -->
             <Border
                 Grid.Row="4"
                 Padding="6,4"

XplorePlane/Views/ImageProcessing/PipelineEditorView.xaml.cs

@@ -1,5 +1,5 @@
-using Prism.Ioc;
 using System;
+using Prism.Ioc;
 using System.Windows;
 using System.Windows.Controls;
 using XP.Common.Logging.Interfaces;
@@ -23,7 +23,7 @@ namespace XplorePlane.Views
 
         private void OnLoaded(object sender, RoutedEventArgs e)
         {
-            if (DataContext is not IPipelineEditorHostViewModel)
+            if (DataContext is not PipelineEditorViewModel)
             {
                 try
                 {
@@ -46,35 +46,36 @@ namespace XplorePlane.Views
 
         private void OnDragOver(object sender, DragEventArgs e)
         {
-            e.Effects = e.Data.GetDataPresent(OperatorToolboxView.DragFormat)
+            if (e.Data.GetDataPresent(OperatorToolboxView.DragFormat))
-                ? DragDropEffects.Copy
+                e.Effects = DragDropEffects.Copy;
-                : DragDropEffects.None;
+            else
+                e.Effects = DragDropEffects.None;
             e.Handled = true;
         }
 
         private void OnOperatorDropped(object sender, DragEventArgs e)
         {
-            if (DataContext is not IPipelineEditorHostViewModel vm)
+            if (DataContext is not PipelineEditorViewModel vm)
             {
-                _logger?.Warn("Drop 事件触发，但 DataContext 不是流水线宿主 ViewModel");
+                _logger?.Warn("Drop 事件触发但 DataContext 不是 PipelineEditorViewModel");
                 return;
             }
 
             if (!e.Data.GetDataPresent(OperatorToolboxView.DragFormat))
             {
-                _logger?.Warn("Drop 事件触发，但数据中没有 {Format}", OperatorToolboxView.DragFormat);
+                _logger?.Warn("Drop 事件触发但数据中没有 {Format}", OperatorToolboxView.DragFormat);
                 return;
             }
 
             var operatorKey = e.Data.GetData(OperatorToolboxView.DragFormat) as string;
-            if (string.IsNullOrWhiteSpace(operatorKey))
+            if (string.IsNullOrEmpty(operatorKey))
             {
-                _logger?.Warn("Drop 事件触发，但 OperatorKey 为空");
+                _logger?.Warn("Drop 事件触发但 OperatorKey 为空");
                 return;
             }
 
-            _logger?.Info("算子已放入流水线：{OperatorKey}，当前节点数（执行前）={Count}",
+            _logger?.Info("算子已放入流水线：{OperatorKey}，VM HashCode={Hash}，当前节点数（执行前）={Count}",
-                operatorKey, vm.PipelineNodes.Count);
+                operatorKey, vm.GetHashCode(), vm.PipelineNodes.Count);
             vm.AddOperatorCommand.Execute(operatorKey);
             _logger?.Info("AddOperator 执行后节点数={Count}，PipelineListBox.Items.Count={ItemsCount}",
                 vm.PipelineNodes.Count, PipelineListBox.Items.Count);

XplorePlane/Views/Main/ImagePanelView.xaml

@@ -1,9 +1,10 @@
-<UserControl
+<UserControl
     x:Class="XplorePlane.Views.ImagePanelView"
     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:views="clr-namespace:XplorePlane.Views"
     d:DesignHeight="400"
     d:DesignWidth="250"
     mc:Ignorable="d">
@@ -13,9 +14,9 @@
             <RowDefinition Height="*" />
         </Grid.RowDefinitions>
         <Border Grid.Row="0" Background="#F0F0F0" BorderBrush="#DDDDDD" BorderThickness="0,0,0,1">
-            <TextBlock Margin="4,2" HorizontalAlignment="Left" VerticalAlignment="Center"
+            <TextBlock Margin="8,4" HorizontalAlignment="Left" VerticalAlignment="Center"
                        FontWeight="SemiBold" Foreground="#333333" Text="图像" />
         </Border>
-        <ContentControl Grid.Row="1" Content="{Binding ImagePanelContent}" />
+        <views:PipelineEditorView Grid.Row="1" />
     </Grid>
 </UserControl>

XplorePlane/Views/Main/MainWindow.xaml

@@ -16,7 +16,7 @@
     Height="1040"
     d:DesignWidth="1580"
     Background="#F5F5F5"
-    Icon="pack://application:,,,/XplorePlane;component/XplorerPlane.ico"
+    Icon="pack://application:,,,/XplorerPlane.ico"
     WindowStartupLocation="CenterScreen"
     mc:Ignorable="d">
     <Window.Resources>
@@ -74,7 +74,7 @@
                     <StackPanel>
                         <telerik:RadRibbonButton
                             telerik:ScreenTip.Title="新建CNC"
-                            Command="{Binding NewCncProgramCommand}"
+                            Command="{Binding Path=SetStyle.Command}"
                             Size="Medium"
                             SmallImage="/Assets/Icons/new-doc.png"
                             Text="新建CNC" />
@@ -82,12 +82,11 @@
                             telerik:ScreenTip.Description="保存当前X射线实时图像"
                             telerik:ScreenTip.Title="保存图像"
                             Size="Medium"
-                            Command="{Binding SaveCncProgramCommand}"
                             SmallImage="/Assets/Icons/save.png"
                             Text="保存" />
                         <telerik:RadRibbonButton
                             telerik:ScreenTip.Title="另存为"
-                            Command="{Binding SaveCncProgramCommand}"
+                            Command="{Binding OpenFileCommand}"
                             Size="Medium"
                             SmallImage="/Assets/Icons/saveas.png"
                             Text="另存为" />
@@ -95,7 +94,7 @@
                     <StackPanel>
                         <telerik:RadRibbonButton
                             telerik:ScreenTip.Title="加载CNC"
-                            Command="{Binding LoadCncProgramCommand}"
+                            Command="{Binding OpenFileCommand}"
                             Size="Large"
                             SmallImage="/Assets/Icons/open.png"
                             Text="加载CNC" />
@@ -285,28 +284,32 @@
                         Command="{Binding OpenCncEditorCommand}"
                         Size="Large"
                         SmallImage="/Assets/Icons/cnc.png"
-                        Text="CNC 编辑" />
+                        Text="CNC 编辑器" />
 
-        
+                    <!--  矩阵编排入口按钮  -->
+                    <telerik:RadRibbonButton
+                        telerik:ScreenTip.Description="打开矩阵编排窗口，配置多工件阵列检测方案"
+                        telerik:ScreenTip.Title="矩阵编排"
+                        Command="{Binding OpenMatrixEditorCommand}"
+                        Size="Large"
+                        SmallImage="/Assets/Icons/matrix.png"
+                        Text="矩阵编排" />
 
                     <!--  CNC 节点快捷工具  -->
                     <StackPanel>
                         <telerik:RadRibbonButton
                             telerik:ScreenTip.Title="参考点"
                             Size="Medium"
-                            Command="{Binding InsertReferencePointCommand}"
                             SmallImage="/Assets/Icons/reference.png"
                             Text="参考点" />
                         <telerik:RadRibbonButton
                             telerik:ScreenTip.Title="添加位置"
                             Size="Medium"
-                            Command="{Binding InsertSavePositionCommand}"
                             SmallImage="/Assets/Icons/add-pos.png"
                             Text="添加位置" />
                         <telerik:RadRibbonButton
                             telerik:ScreenTip.Title="完成"
                             Size="Medium"
-                            Command="{Binding InsertCompleteProgramCommand}"
                             SmallImage="/Assets/Icons/finish.png"
                             Text="完成" />
                     </StackPanel>
@@ -314,19 +317,16 @@
                         <telerik:RadRibbonButton
                             telerik:ScreenTip.Title="标记"
                             Size="Medium"
-                            Command="{Binding InsertInspectionMarkerCommand}"
                             SmallImage="/Assets/Icons/mark.png"
                             Text="标记" />
                         <telerik:RadRibbonButton
                             telerik:ScreenTip.Title="模块"
                             Size="Medium"
-                            Command="{Binding InsertInspectionModuleCommand}"
                             SmallImage="/Assets/Icons/Module.png"
                             Text="检测模块" />
                         <telerik:RadRibbonButton
                             telerik:ScreenTip.Title="全部保存"
                             Size="Medium"
-                            Command="{Binding SaveCncProgramCommand}"
                             SmallImage="/Assets/Icons/saveall.png"
                             Text="全部保存" />
                     </StackPanel>
@@ -334,26 +334,14 @@
                         <telerik:RadRibbonButton
                             telerik:ScreenTip.Title="消息"
                             Size="Medium"
-                            Command="{Binding InsertPauseDialogCommand}"
                             SmallImage="/Assets/Icons/message.png"
                             Text="消息弹窗" />
                         <telerik:RadRibbonButton
                             telerik:ScreenTip.Title="等待"
                             Size="Medium"
-                            Command="{Binding InsertWaitDelayCommand}"
                             SmallImage="/Assets/Icons/wait.png"
                             Text="插入等待" />
                     </StackPanel>
-
-                    <!--  矩阵编排入口按钮  -->
-                    <telerik:RadRibbonButton
-                telerik:ScreenTip.Description="打开矩阵编排窗口，配置多工件阵列检测方案"
-                telerik:ScreenTip.Title="矩阵编排"
-                Command="{Binding OpenMatrixEditorCommand}"
-                Size="Large"
-                SmallImage="/Assets/Icons/matrix.png"
-                Text="矩阵编排" />
-
                 </telerik:RadRibbonGroup>
 
                 <telerik:RadRibbonGroup Header="高级模块" IsEnabled="{Binding Path=CellsGroup.IsEnabled}">
@@ -400,7 +388,7 @@
                         Size="Large"
                         SmallImage="/Assets/Icons/spiral.png" />
                 </telerik:RadRibbonGroup>
-                <!--
+                <!-- 
               <telerik:RadRibbonGroup Header="图像处理">
                     <telerik:RadRibbonGroup.Variants>
                         <telerik:GroupVariant Priority="0" Variant="Large" />
@@ -470,9 +458,9 @@
             Margin="0">
             <Grid.ColumnDefinitions>
                 <ColumnDefinition x:Name="NavColumn" Width="0" />
-                <ColumnDefinition Width="{Binding ViewportPanelWidth}" />
+                <ColumnDefinition Width="*" />
-                <ColumnDefinition Width="{Binding ImagePanelWidth}" />
+                <ColumnDefinition Width="350" />
-                <ColumnDefinition Width="300" />
+                <ColumnDefinition Width="350" />
             </Grid.ColumnDefinitions>
 
             <!--  左侧: 计划导航 (默认隐藏，点击CNC AccountingNumberFormatButton显示)  -->

XplorePlane/Views/Main/NavigationPropertyPanelView.xaml

@@ -12,7 +12,6 @@
             <RowDefinition Height="Auto" />
             <RowDefinition Height="*" />
             <RowDefinition Height="Auto" />
-            <RowDefinition Height="Auto" />
         </Grid.RowDefinitions>
 
         <!-- 标题栏 -->
@@ -56,50 +55,5 @@
                 <Run Foreground="#0078D4" Text="{Binding CameraPixelCoord, Mode=OneWay}" />
             </TextBlock>
         </Border>
-
-        <!-- 控制按钮栏 -->
-        <Border
-            Grid.Row="3"
-            Background="#F0F0F0"
-            BorderBrush="#DDDDDD"
-            BorderThickness="0,1,0,0"
-            Padding="4">
-            <StackPanel Orientation="Horizontal" HorizontalAlignment="Center">
-                <Button
-                    Command="{Binding ConnectCameraCommand}"
-                    Width="60" Height="26"
-                    Margin="2"
-                    Background="#4CAF50"
-                    Foreground="#000000"
-                    Content="连接" />
-                <Button
-                    Command="{Binding DisconnectCameraCommand}"
-                    Width="60" Height="26"
-                    Margin="2"
-                    Background="#F44336"
-                    Foreground="#000000"
-                    Content="断开" />
-                <Button
-                    Command="{Binding StartGrabCommand}"
-                    Width="60" Height="26"
-                    Margin="2"
-                    Background="#2196F3"
-                    Foreground="#000000"
-                    Content="采集" />
-                <Button
-                    Command="{Binding StopGrabCommand}"
-                    Width="60" Height="26"
-                    Margin="2"
-                    Background="#FF9800"
-                    Foreground="#000000"
-                    Content="停止" />
-                <CheckBox
-                    IsChecked="{Binding IsLiveViewEnabled}"
-                    VerticalAlignment="Center"
-                    Margin="6,0,0,0"
-                    Foreground="#333333"
-                    Content="实时" />
-            </StackPanel>
-        </Border>
     </Grid>
 </UserControl>

XplorePlane/Views/Main/NavigationPropertyPanelView.xaml.cs

@@ -28,8 +28,16 @@ namespace XplorePlane.Views
             }
         }
 
+        /// <summary>
+        /// 双击相机图像时，计算并显示点击位置的像素坐标。
+        /// </summary>
+        /// <remarks>
+        /// TODO: 后续需要将点击的像素坐标通过 CalibrationProcessor 转换为世界坐标，
+        ///       再传给运动机构执行定位。
+        /// </remarks>
         private void ImgCamera_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
         {
+            if (e.ClickCount != 2) return;
             if (_viewModel?.CameraImageSource == null) return;
 
             var image = (Image)sender;

XplorePlane/Views/Main/ViewportPanelView.xaml

@@ -19,7 +19,7 @@
 
         <!-- 标题栏 -->
         <Border Grid.Row="0" Background="#F0F0F0" BorderBrush="#DDDDDD" BorderThickness="0,0,0,1">
-            <TextBlock Margin="4,2" HorizontalAlignment="Left" VerticalAlignment="Center"
+            <TextBlock Margin="8,4" HorizontalAlignment="Left" VerticalAlignment="Center"
                        FontWeight="SemiBold" Foreground="#333333" Text="实时图像" />
         </Border>
 
@@ -30,7 +30,7 @@
 
         <!-- 图像信息栏 -->
         <Border Grid.Row="2" Background="#F0F0F0" BorderBrush="#DDDDDD" BorderThickness="0,1,0,0">
-            <TextBlock Margin="4,2" FontSize="11" Foreground="#666666"
+            <TextBlock Margin="8,2" FontSize="11" Foreground="#666666"
                        Text="{Binding ImageInfo}" />
         </Border>
     </Grid>

XplorePlane/XplorePlane.csproj

@@ -146,9 +146,6 @@
       <Link>Libs\Hardware\zh-TW\%(Filename)%(Extension)</Link>
     </None>
     <Compile Remove="Views\Main\MainWindowB.xaml.cs" />
-    <Content Include="XplorerPlane.ico">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
-    </Content>
     
     <Resource Include="XplorerPlane.ico" />