Merge pull request #12361 from alalek:fix_12359

modules/video/CMakeLists.txt

@@ -1,2 +1,2 @@
 set(the_description "Video Analysis")
-ocv_define_module(video opencv_imgproc opencv_calib3d WRAP java python js)
+ocv_define_module(video opencv_imgproc OPTIONAL opencv_calib3d WRAP java python js)

modules/video/src/lkpyramid.cpp

@@ -45,7 +45,9 @@
 #include "lkpyramid.hpp"
 #include "opencl_kernels_video.hpp"
 #include "opencv2/core/hal/intrin.hpp"
+#ifdef HAVE_OPENCV_CALIB3D
 #include "opencv2/calib3d.hpp"
+#endif
 
 #include "opencv2/core/openvx/ovx_defs.hpp"
 
@@ -1402,7 +1404,10 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
 cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullAffine )
 {
     CV_INSTRUMENT_REGION()
-
+#ifndef HAVE_OPENCV_CALIB3D
+    CV_UNUSED(src1); CV_UNUSED(src2); CV_UNUSED(fullAffine);
+    CV_Error(Error::StsError, "estimateRigidTransform requires calib3d module");
+#else
     Mat A = src1.getMat(), B = src2.getMat();
 
     const int COUNT = 15;
@@ -1505,8 +1510,10 @@ cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullA
     if (fullAffine)
     {
         return estimateAffine2D(pA, pB);
-    } else
+    }
+    else
     {
         return estimateAffinePartial2D(pA, pB);
     }
+#endif
 }