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

Found via `codespell`

Implementation of bit-exact resize. Internal calls to linear resize updated to use bit-exact version. (#9468)

Added a writeFormat() method to Algorithm which must be called by the
write() method of derived classes.

fixes #5643

While checking whether a match is a real match, the index of the corresponding column (row) for a row (column) is checked. The limit should be the number of the real columns (rows) for a given row (column).

(with this else-branch, argument contour2 would not be used at all)