When the fullAffine parameter is set to false, the estimateRigidTransform function maybe return empty, then the _localAffineEstimate function will be called, but the bug in it will result in incorrect results.
* video: remove duplicate RANSAC code
* remove RANSAC code video module. The module now uses RANSAC estimators from calib3d.
* deprecate estimateRigidTransform
* replace internal usage of deprecated estimateRigidTransform
* remove from wrappers
* replace usage in shape module. shape module now links to calib3d instead of video module.
* reprecate also C API version
* remove cvEstimateRigidTransform
* supress deprecated warnings in estimateRigidTransform test
* the function is now deprecated