全景视觉（omnidirectional vision）的图像自标定方法－9点法求两幅全景图像间的基本矩阵。-Panoramic Vision (omnidirectional vision) images of self-calibration method-9 seeking two-point method of the fundamental matrix between panoramic images

9点标定halcon代码，生产变换矩阵，也可以到推出机械手补偿量(nice points calibs,calibs)