halcon常用图像拼接

一般流程（halcon中也提到过更高阶的金字塔图像拼接）

points_harris (Image1, 0.7, 2, 0.08, 1000, Row1, Column1)
points_harris (Image2, 0.7, 2, 0.08, 1000, Row2, Column2)
proj_match_points_ransac (Image1, Image2,Row1, Column1,Row2, Column2, 'ncc', 10, 0, 0, max([Height2,Height1]), max([Width1,Width2]), [rad(-40),rad(40)], 0.5, 'gold_standard', 2.5 * pow(2,4 - 2), 42, ProjMatrix, Points1, Points2)
projective_trans_image (Image1, TransImage, ProjMatrix, 'bilinear', 'false', 'false')
***如果不考虑切向变换只做刚性变化
***可以使用vector_to_hom_mat2d

**可用的角点检测算法有
points_harris (TransImage, 0.7, 2, 0.08, 1000, Row3, Column3)   //***
points_foerstner (TransImage, 1, 2, 3, 200, 0.3, 'gauss', 'false', RowJunctions, ColumnJunctions, CoRRJunctions, CoRCJunctions, CoCCJunctions, RowArea,