Extend USAC coverage.

Add `estimateSE2(...)`, `estimateSE3(...)`, `estimateSIM2(...)`, `estimateSIM3(...)` for estimating an geometric transformation with rotation and translation (with scaling for SIM) using USAC: as alternative for `estimateAffinePartial2D` and `estimateAffine3D`.

Modified test module.

Remove unused variables.

Remove initializer of unused variable.

Add interfaces to accept UsacParams() and corresponding test codes.

Revise test code.

PartialNd removed

Umeyama rewritten for code quality & speed

comments & minors

rise number of points

fix, and +30% faster!

only one number should be that big

remove USAC code, leave fix only

big number

modules/calib3d/test/test_usac.cpp

@@ -416,7 +416,7 @@ TEST (usac_Affine2D, accuracy) {
 
 TEST(usac_testUsacParams, accuracy) {
     std::vector<int> gt_inliers;
-    const int pts_size = 1500;
+    const int pts_size = 150000;
     cv::RNG &rng = cv::theRNG();
     const cv::UsacParams usac_params = cv::UsacParams();
     cv::Mat pts1, pts2, K1, K2, mask, model, rvec, tvec, R;