Merge pull request #25028 from asmorkalov:as/fisheye_solvepnp

solvePnP implementation for Fisheye camera model #25028

Credits to Linfei Pan
Extracted from https://github.com/opencv/opencv/pull/24052

**Warning:** The patch changes Obj-C generator behaviour and adds "fisheye_" prefix for all ObjC functions from namespace.

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake

Co-authored-by: lpanaf <linpan@student.ethz.ch>
Co-authored-by: Vadim Levin <vadim.levin@xperience.ai>

modules/calib3d/src/fisheye.cpp

@@ -1148,6 +1148,20 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
     return rms;
 }
 
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// cv::fisheye::solvePnP
+
+bool cv::fisheye::solvePnP( InputArray opoints, InputArray ipoints,
+               InputArray cameraMatrix, InputArray distCoeffs,
+               OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess,
+               int flags, TermCriteria criteria)
+{
+
+    Mat imagePointsNormalized;
+    cv::fisheye::undistortPoints(ipoints, imagePointsNormalized, cameraMatrix, distCoeffs, noArray(), cameraMatrix, criteria);
+    return cv::solvePnP(opoints, imagePointsNormalized, cameraMatrix, noArray(), rvec, tvec, useExtrinsicGuess, flags);
+}
+
 namespace cv{ namespace {
 void subMatrix(const Mat& src, Mat& dst, const std::vector<uchar>& cols, const std::vector<uchar>& rows)
 {