feat: 切换后端至PaddleOCR-NCNN，切换工程为CMake

1.项目后端整体迁移至PaddleOCR-NCNN算法，已通过基本的兼容性测试
2.工程改为使用CMake组织，后续为了更好地兼容第三方库，不再提供QMake工程
3.重整权利声明文件，重整代码工程，确保最小化侵权风险

Log: 切换后端至PaddleOCR-NCNN，切换工程为CMake
Change-Id: I4d5d2c5d37505a4a24b389b1a4c5d12f17bfa38c

3rdparty/opencv-4.5.4/modules/calib3d/src/upnp.h

@@ -0,0 +1,140 @@
+//M*//////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistribution's of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
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+// this list of conditions and the following disclaimer in the documentation
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+//
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+// derived from this software without specific prior written permission.
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+// any express or implied warranties, including, but not limited to, the implied
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+// loss of use, data, or profits; or business interruption) however caused
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+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+/****************************************************************************************\
+* Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation.
+* Contributed by Edgar Riba
+\****************************************************************************************/
+
+#ifndef OPENCV_CALIB3D_UPNP_H_
+#define OPENCV_CALIB3D_UPNP_H_
+
+#include "precomp.hpp"
+#include "opencv2/core/core_c.h"
+#include <iostream>
+
+#if 0  // fix buffer overflow first (FIXIT mark in .cpp file)
+
+class upnp
+{
+public:
+    upnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& ipoints);
+    ~upnp();
+
+    double compute_pose(cv::Mat& R, cv::Mat& t);
+private:
+    upnp(const upnp &); // copy disabled
+    upnp& operator=(const upnp &); // assign disabled
+    template <typename T>
+      void init_camera_parameters(const cv::Mat& cameraMatrix)
+      {
+        uc = cameraMatrix.at<T> (0, 2);
+        vc = cameraMatrix.at<T> (1, 2);
+        fu = 1;
+        fv = 1;
+      }
+      template <typename OpointType, typename IpointType>
+      void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
+      {
+          for(int i = 0; i < number_of_correspondences; i++)
+          {
+            pws[3 * i    ] = opoints.at<OpointType>(i).x;
+            pws[3 * i + 1] = opoints.at<OpointType>(i).y;
+            pws[3 * i + 2] = opoints.at<OpointType>(i).z;
+
+            us[2 * i    ] = ipoints.at<IpointType>(i).x;
+            us[2 * i + 1] = ipoints.at<IpointType>(i).y;
+          }
+      }
+
+      double reprojection_error(const double R[3][3], const double t[3]);
+      void choose_control_points();
+      void compute_alphas();
+      void fill_M(cv::Mat * M, const int row, const double * alphas, const double u, const double v);
+      void compute_ccs(const double * betas, const double * ut);
+      void compute_pcs(void);
+
+      void solve_for_sign(void);
+
+      void find_betas_and_focal_approx_1(cv::Mat * Ut, cv::Mat * Rho, double * betas, double * efs);
+      void find_betas_and_focal_approx_2(cv::Mat * Ut, cv::Mat * Rho, double * betas, double * efs);
+      void qr_solve(cv::Mat * A, cv::Mat * b, cv::Mat * X);
+
+      cv::Mat compute_constraint_distance_2param_6eq_2unk_f_unk(const cv::Mat& M1);
+      cv::Mat compute_constraint_distance_3param_6eq_6unk_f_unk(const cv::Mat& M1, const cv::Mat& M2);
+      void generate_all_possible_solutions_for_f_unk(const double betas[5], double solutions[18][3]);
+
+      double sign(const double v);
+      double dot(const double * v1, const double * v2);
+      double dotXY(const double * v1, const double * v2);
+      double dotZ(const double * v1, const double * v2);
+      double dist2(const double * p1, const double * p2);
+
+      void compute_rho(double * rho);
+      void compute_L_6x12(const double * ut, double * l_6x12);
+
+      void gauss_newton(const cv::Mat * L_6x12, const cv::Mat * Rho, double current_betas[4], double * efs);
+      void compute_A_and_b_gauss_newton(const double * l_6x12, const double * rho,
+                          const double cb[4], cv::Mat * A, cv::Mat * b, double const f);
+
+      double compute_R_and_t(const double * ut, const double * betas,
+                   double R[3][3], double t[3]);
+
+      void estimate_R_and_t(double R[3][3], double t[3]);
+
+      void copy_R_and_t(const double R_dst[3][3], const double t_dst[3],
+                  double R_src[3][3], double t_src[3]);
+
+
+      double uc, vc, fu, fv;
+
+      std::vector<double> pws, us, alphas, pcs;
+      int number_of_correspondences;
+
+      double cws[4][3], ccs[4][3];
+      int max_nr;
+      double * A1, * A2;
+};
+
+#endif
+
+#endif // OPENCV_CALIB3D_UPNP_H_