Merge pull request #29230 from asmorkalov:as/move_undistort

Inverted imgproc-geometry dependency and moved more functions to geometry #29230

Fixes: https://github.com/opencv/opencv/issues/20267
Continues: https://github.com/opencv/opencv/pull/29175

OpenCV Contrib: https://github.com/opencv/opencv_contrib/pull/4137
OpenCV Extra: https://github.com/opencv/opencv_extra/pull/1377

Summary:
- LSD returned back to imgproc
- drawing functions moved to imgproc
- undistort image and related perf-pixel functions moved to imgproc
- moments moved to geometry
- estimateXXXtransform moved to geometry

After the patch the geometry module depends on code and Flann and may be used everywhere without potential circular dependencies

### 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
- [ ] The PR is proposed to the proper branch
- [ ] 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

modules/imgproc/src/drawing.cpp

@@ -2250,3 +2250,44 @@ void cv::drawContours( InputOutputArray _image, InputArrayOfArrays _contours,
         }
     }
 }
+
+void cv::drawFrameAxes(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,
+                   InputArray rvec, InputArray tvec, float length, int thickness)
+{
+    CV_INSTRUMENT_REGION();
+
+    int type = image.type();
+    int cn = CV_MAT_CN(type);
+    CV_CheckType(type, cn == 1 || cn == 3 || cn == 4,
+                 "Number of channels must be 1, 3 or 4" );
+
+    cv::Mat img = image.getMat();
+    CV_Assert(img.total() > 0);
+    CV_Assert(length > 0);
+
+    // project axes points
+    std::vector<Point3f> axesPoints;
+    axesPoints.push_back(Point3f(0, 0, 0));
+    axesPoints.push_back(Point3f(length, 0, 0));
+    axesPoints.push_back(Point3f(0, length, 0));
+    axesPoints.push_back(Point3f(0, 0, length));
+    std::vector<Point2f> imagePoints;
+    projectPoints(axesPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints);
+
+    cv::Rect imageRect(0, 0, img.cols, img.rows);
+    bool allIn = true;
+    for (size_t i = 0; i < imagePoints.size(); i++)
+    {
+        allIn &= imageRect.contains(imagePoints[i]);
+    }
+
+    if (!allIn)
+    {
+        CV_LOG_WARNING(NULL, "Some of projected axes endpoints are out of frame. The drawn axes may be not reliable.");
+    }
+
+    // draw axes lines
+    line(image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255), thickness);
+    line(image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0), thickness);
+    line(image, imagePoints[0], imagePoints[3], Scalar(255, 0, 0), thickness);
+}