Merge pull request #29175 from asmorkalov:as/geometry2

Geometry module #29175

OpenCV Contrib: https://github.com/opencv/opencv_contrib/pull/4129
CI changes: https://github.com/opencv/ci-gha-workflow/pull/313

Continues
- https://github.com/opencv/opencv/pull/28804
- https://github.com/opencv/opencv/pull/29101
- https://github.com/opencv/opencv/pull/29108
- https://github.com/opencv/opencv/pull/28810

Todo for followup PRs:
- [x] Rename doxygen groups
- [x] Fix JS modules layout and whitelists
- [ ] Sort tutorials code/snippets

### 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
- [ ] 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

cmake/OpenCVPackaging.cmake

@@ -123,7 +123,7 @@ endif()
 set(STD_OPENCV_LIBS opencv-data)
 set(STD_OPENCV_DEV libopencv-dev)
 
-foreach(module 3d calib core dnn features flann highgui
+foreach(module geometry calib core dnn features flann highgui
                imgcodecs imgproc ml objdetect
                photo stereo stitching ts video videoio)
   if(HAVE_opencv_${module})

doc/tutorials/geometry/table_of_content_geometry.markdown

@@ -1,5 +1,5 @@
 
-3d processing and visualisation (3d module) {#tutorial_table_of_content_3d}
+Computational geometry module {#tutorial_table_of_content_geometry}
 ==========================================================
 
 -   @subpage tutorial_point_cloud

doc/tutorials/introduction/config_reference/config_reference.markdown

@@ -156,17 +156,17 @@ cmake \
 
 Each module is a subdirectory of the `modules` directory. It is possible to disable one module:
 ```.sh
-cmake -DBUILD_opencv_3d=OFF ../opencv
+cmake -DBUILD_opencv_geometry=OFF ../opencv
 ```
 
 The opposite option is to build only specified modules and all modules they depend on:
 ```.sh
-cmake -DBUILD_LIST=calib3d,videoio,ts ../opencv
+cmake -DBUILD_LIST=geometry,videoio,ts ../opencv
 ```
 In this example we requested 3 modules and configuration script has determined all dependencies automatically:
 ```
 --   OpenCV modules:
---     To be built:                 calib3d core features flann highgui imgcodecs imgproc ts videoio
+--     To be built:                 core features flann geometry highgui imgcodecs imgproc ts videoio
 ```
 
 

doc/tutorials/introduction/linux_eclipse/linux_eclipse.markdown

@@ -114,7 +114,7 @@ Making a project
             since I plan to use the whole bunch:
 
             opencv_core opencv_imgproc opencv_imgcodecs opencv_highgui opencv_videoio opencv_video opencv_features
-            opencv_3d opencv_objdetect opencv_flann
+            opencv_geometry opencv_objdetect opencv_flann
 
             ![](images/a10.png)
 
@@ -125,7 +125,7 @@ Making a project
             @endcode
             My output (in case you want to check) was:
             @code{.bash}
-            -L/usr/local/lib -lopencv_core -lopencv_imgproc -lopencv_highgui -lopencv_video -lopencv_features -lopencv_3d -lopencv_calib -lopencv_stereo -lopencv_objdetect -lopencv_videoio -lopencv_imgcodecs -lopencv_flann
+            -L/usr/local/lib -lopencv_core -lopencv_imgproc -lopencv_highgui -lopencv_video -lopencv_features -lopencv_geometry -lopencv_calib -lopencv_stereo -lopencv_objdetect -lopencv_videoio -lopencv_imgcodecs -lopencv_flann
             @endcode
             Now you are done. Click **OK**
 

doc/tutorials/tutorials.markdown

@@ -11,7 +11,7 @@ OpenCV Tutorials {#tutorial_root}
 - @subpage tutorial_table_of_content_dnn - infer neural networks using built-in _dnn_ module
 - @subpage tutorial_table_of_content_other - other modules (stitching, video)
 - @subpage tutorial_table_of_content_ios - running OpenCV on an iDevice
-- @subpage tutorial_table_of_content_3d - 3d objects processing and visualisation
+- @subpage tutorial_table_of_content_geometry - 2d and 3d geometry primitives and point clouds processing
 - @subpage tutorial_table_of_content_photo - photo module functions (hdr_image, ccm)
 @cond CUDA_MODULES
 - @subpage tutorial_table_of_content_gpu - utilizing power of video card to run CV algorithms

modules/3d/CMakeLists.txt

@@ -1,16 +0,0 @@
-set(the_description "Camera Calibration and 3D Reconstruction")
-
-ocv_add_dispatched_file(undistort SSE2 AVX2)
-
-set(debug_modules "")
-if(DEBUG_opencv_3d)
-  list(APPEND debug_modules opencv_highgui)
-endif()
-ocv_define_module(3d opencv_imgproc opencv_flann ${debug_modules}
-    WRAP java objc python js
-)
-ocv_target_link_libraries(${the_module} ${LAPACK_LIBRARIES})
-
-if(NOT HAVE_EIGEN)
-  message(STATUS "3d: Eigen support is disabled. Eigen is Required for Posegraph optimization")
-endif()

modules/3d/misc/js/gen_dict.json

@@ -1,21 +0,0 @@
-{
-    "whitelist":
-    {
-        "": [
-            "findHomography",
-            "drawFrameAxes",
-            "estimateAffine2D",
-            "getDefaultNewCameraMatrix",
-            "initUndistortRectifyMap",
-            "Rodrigues",
-            "solvePnP",
-            "solvePnPRansac",
-            "solvePnPRefineLM",
-            "projectPoints",
-            "undistort",
-            "fisheye_initUndistortRectifyMap",
-            "fisheye_projectPoints"
-        ],
-        "UsacParams": ["UsacParams"]
-    }
-}

modules/calib/CMakeLists.txt

@@ -4,6 +4,6 @@ set(debug_modules "")
 if(DEBUG_opencv_calib)
   list(APPEND debug_modules opencv_highgui)
 endif()
-ocv_define_module(calib opencv_imgproc opencv_objdetect opencv_flann opencv_3d opencv_stereo ${debug_modules}
+ocv_define_module(calib opencv_imgproc opencv_objdetect opencv_flann opencv_geometry opencv_stereo ${debug_modules}
     WRAP java objc python js
 )

modules/calib/include/opencv2/calib3d.hpp

@@ -7,7 +7,7 @@
 #ifndef OPENCV_CALIB3D_HPP
 #define OPENCV_CALIB3D_HPP
 
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/stereo.hpp"
 #include "opencv2/calib.hpp"
 

modules/calib/misc/java/test/CalibTest.java

@@ -2,7 +2,6 @@ package org.opencv.test.calib;
 
 import java.util.ArrayList;
 
-import org.opencv.cv3d.Cv3d;
 import org.opencv.calib.Calib;
 import org.opencv.core.Core;
 import org.opencv.core.CvType;

modules/calib/src/precomp.hpp

@@ -47,7 +47,7 @@
 #include "opencv2/core/private.hpp"
 
 #include "opencv2/calib.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/features.hpp"
 

modules/calib/test/test_precomp.hpp

@@ -8,7 +8,7 @@
 #include <numeric>
 
 #include "opencv2/ts.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/calib.hpp"
 
 #endif

modules/dnn/CMakeLists.txt

@@ -19,7 +19,7 @@ ocv_add_dispatched_file_force_all("layers/cpu_kernels/transpose_kernels" AVX AVX
 ocv_add_dispatched_file_force_all("layers/cpu_kernels/gridsample_kernels" AVX AVX2 NEON RVV LASX)
 ocv_add_dispatched_file_force_all("layers/cpu_kernels/nary_eltwise_kernels" AVX AVX2 NEON RVV LASX)
 
-ocv_add_module(dnn opencv_core opencv_imgproc opencv_3d WRAP python java objc js)
+ocv_add_module(dnn opencv_core opencv_imgproc opencv_geometry WRAP python java objc js)
 
 include(${CMAKE_CURRENT_LIST_DIR}/cmake/plugin.cmake)
 

modules/dnn/src/model.cpp

@@ -10,7 +10,7 @@
 #include <iterator>
 
 #include <opencv2/imgproc.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry/2d.hpp>
 
 namespace cv {
 namespace dnn {

modules/dnn/src/nms.cpp

@@ -9,7 +9,7 @@
 #include "nms.inl.hpp"
 
 #include <opencv2/imgproc.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry/2d.hpp>
 
 namespace cv { namespace dnn {
 CV__DNN_INLINE_NS_BEGIN

modules/dnn/test/test_common.impl.hpp

@@ -14,7 +14,7 @@
 
 #include <opencv2/core/utils/configuration.private.hpp>
 #include <opencv2/core/utils/logger.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 
 #ifdef _WIN32
 #ifndef NOMINMAX

modules/dnn/test/test_model.cpp

@@ -4,7 +4,7 @@
 
 #include "test_precomp.hpp"
 #include <opencv2/dnn/shape_utils.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry/2d.hpp>
 #include "npy_blob.hpp"
 #include <map>
 #include <set>

modules/features/CMakeLists.txt

@@ -6,7 +6,7 @@ set(debug_modules "")
 if(DEBUG_opencv_features)
   list(APPEND debug_modules opencv_highgui)
 endif()
-ocv_define_module(features opencv_imgproc opencv_3d ${debug_modules} OPTIONAL opencv_flann WRAP java objc python js)
+ocv_define_module(features opencv_imgproc opencv_geometry ${debug_modules} OPTIONAL opencv_flann WRAP java objc python js)
 
 ocv_install_3rdparty_licenses(mscr "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/mscr/chi_table_LICENSE.txt")
 ocv_install_3rdparty_licenses(annoylib "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/annoy/LICENSE")

modules/features/misc/java/test/FeaturesTest.java

@@ -4,7 +4,7 @@ import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 
-import org.opencv.cv3d.Cv3d;
+import org.opencv.geometry.Geometry;
 import org.opencv.core.CvType;
 import org.opencv.core.Mat;
 import org.opencv.core.MatOfInt;
@@ -135,7 +135,7 @@ public class FeaturesTest extends OpenCVTestCase {
         MatOfPoint2f points1 = new MatOfPoint2f(lp1.toArray(new Point[0]));
         MatOfPoint2f points2 = new MatOfPoint2f(lp2.toArray(new Point[0]));
 
-        Mat hmg = Cv3d.findHomography(points1, points2, Cv3d.RANSAC, 3);
+        Mat hmg = Geometry.findHomography(points1, points2, Geometry.RANSAC, 3);
 
         assertMatEqual(Mat.eye(3, 3, CvType.CV_64F), hmg, EPS);
 

modules/features/src/precomp.hpp

@@ -45,7 +45,7 @@
 
 #include "opencv2/features.hpp"
 #include "opencv2/imgproc.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 
 #include "opencv2/core/utility.hpp"
 #include "opencv2/core/private.hpp"

modules/geometry/CMakeLists.txt

@@ -0,0 +1,16 @@
+set(the_description "Computational geometry primitives")
+
+ocv_add_dispatched_file(undistort SSE2 AVX2)
+
+set(debug_modules "")
+if(DEBUG_opencv_geometry)
+  list(APPEND debug_modules opencv_highgui)
+endif()
+ocv_define_module(geometry opencv_imgproc opencv_flann ${debug_modules}
+    WRAP java objc python js
+)
+ocv_target_link_libraries(${the_module} ${LAPACK_LIBRARIES})
+
+if(NOT HAVE_EIGEN)
+  message(STATUS "Geometry: Eigen support is disabled. Eigen is Required for Posegraph optimization")
+endif()

modules/geometry/include/opencv2/geometry.hpp

@@ -0,0 +1,20 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html
+
+#ifndef OPENCV_GEOMETRY_HPP
+#define OPENCV_GEOMETRY_HPP
+
+/**
+@defgroup geometry Computational geometry primitives module.
+*/
+
+//! @addtogroup geometry
+//! @{
+
+#include "opencv2/geometry/2d.hpp"
+#include "opencv2/geometry/3d.hpp"
+
+//! @} geometry
+
+#endif

modules/geometry/include/opencv2/geometry/2d.hpp

@@ -10,7 +10,7 @@
 
 namespace cv {
 
-//! @addtogroup imgproc_shape
+//! @addtogroup geometry_shape
 //! @{
 
 //! types of intersection between rectangles
@@ -28,7 +28,7 @@ enum LineSegmentDetectorModes {
     //!< refined through increase of precision, decrement in size, etc.
 };
 
-//! @addtogroup imgproc_subdiv2d
+//! @addtogroup geometry_subdiv2d
 //! @{
 
 class CV_EXPORTS_W Subdiv2D
@@ -304,9 +304,9 @@ protected:
     Point2f bottomRight;
 };
 
-//! @} imgproc_subdiv2d
+//! @} geometry_subdiv2d
 
-//! @addtogroup imgproc_feature
+//! @addtogroup geometry_feature
 //! @{
 
 /** @example samples/cpp/snippets/lsd_lines.cpp
@@ -388,7 +388,7 @@ CV_EXPORTS_W Ptr<LineSegmentDetector> createLineSegmentDetector(
     double sigma_scale = 0.6, double quant = 2.0, double ang_th = 22.5,
     double log_eps = 0, double density_th = 0.7, int n_bins = 1024);
 
-//! @} imgproc_feature
+//! @} geometry_feature
 
 /** @example samples/python/snippets/squares.py
  A n example using approxPolyDP function in python.        *

modules/geometry/include/opencv2/geometry/3d.hpp

@@ -8,13 +8,12 @@
 #include "opencv2/core.hpp"
 #include "opencv2/core/utils/logger.hpp"
 
-#include "opencv2/3d/2d.hpp"
-#include "opencv2/3d/depth.hpp"
-#include "opencv2/3d/odometry.hpp"
-#include "opencv2/3d/odometry_frame.hpp"
-#include "opencv2/3d/odometry_settings.hpp"
-#include "opencv2/3d/volume.hpp"
-#include "opencv2/3d/ptcloud.hpp"
+#include "opencv2/geometry/depth.hpp"
+#include "opencv2/geometry/odometry.hpp"
+#include "opencv2/geometry/odometry_frame.hpp"
+#include "opencv2/geometry/odometry_settings.hpp"
+#include "opencv2/geometry/volume.hpp"
+#include "opencv2/geometry/ptcloud.hpp"
 
 /**
   @defgroup _3d 3D vision functionality

modules/geometry/include/opencv2/geometry/detail/optimizer.hpp

@@ -7,7 +7,7 @@
 
 #include "opencv2/core/affine.hpp"
 #include "opencv2/core/quaternion.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry/3d.hpp"
 
 namespace cv
 {

modules/geometry/include/opencv2/geometry/detail/submap.hpp

@@ -7,7 +7,7 @@
 
 #include <opencv2/core.hpp>
 #include <opencv2/core/affine.hpp>
-#include "opencv2/3d/detail/optimizer.hpp"
+#include "opencv2/geometry/detail/optimizer.hpp"
 
 //TODO: remove it when it is rewritten to robust pose graph
 #include "opencv2/core/dualquaternion.hpp"

modules/geometry/include/opencv2/geometry/volume_settings.hpp

@@ -7,7 +7,7 @@
 #define OPENCV_3D_VOLUME_SETTINGS_HPP
 
 #include <opencv2/core.hpp>
-#include <opencv2/3d/volume.hpp>
+#include <opencv2/geometry/volume.hpp>
 
 namespace cv
 {

modules/geometry/misc/java/test/GeometryTest.java

@@ -1,10 +1,10 @@
-package org.opencv.test.cv3d;
+package org.opencv.test.geometry;
 
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 
-import org.opencv.cv3d.Cv3d;
+import org.opencv.geometry.Geometry;
 import org.opencv.core.Core;
 import org.opencv.core.CvType;
 import org.opencv.core.Mat;
@@ -21,7 +21,7 @@ import org.opencv.core.RotatedRect;
 import org.opencv.test.OpenCVTestCase;
 import org.opencv.imgproc.Imgproc;
 
-public class Cv3dTest extends OpenCVTestCase {
+public class GeometryTest extends OpenCVTestCase {
 
     Size size;
 
@@ -50,7 +50,7 @@ public class Cv3dTest extends OpenCVTestCase {
         Mat outTvec = new Mat(3, 1, CvType.CV_32F);
         outTvec.put(0, 0, 1.4560841, 1.0680628, 0.81598103);
 
-        Cv3d.composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3);
+        Geometry.composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3);
 
         assertMatEqual(outRvec, rvec3, EPS);
         assertMatEqual(outTvec, tvec3, EPS);
@@ -192,7 +192,7 @@ public class Cv3dTest extends OpenCVTestCase {
             transformedPoints.put(i, 0, y, x);
         }
 
-        Mat hmg = Cv3d.findHomography(originalPoints, transformedPoints);
+        Mat hmg = Geometry.findHomography(originalPoints, transformedPoints);
 
         truth = new Mat(3, 3, CvType.CV_64F);
         truth.put(0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1);
@@ -258,14 +258,14 @@ public class Cv3dTest extends OpenCVTestCase {
 
         r.put(0, 0, Math.PI, 0, 0);
 
-        Cv3d.Rodrigues(r, R);
+        Geometry.Rodrigues(r, R);
 
         truth = new Mat(3, 3, CvType.CV_32F);
         truth.put(0, 0, 1, 0, 0, 0, -1, 0, 0, 0, -1);
         assertMatEqual(truth, R, EPS);
 
         Mat r2 = new Mat();
-        Cv3d.Rodrigues(R, r2);
+        Geometry.Rodrigues(R, r2);
 
         assertMatEqual(r, r2, EPS);
     }
@@ -313,7 +313,7 @@ public class Cv3dTest extends OpenCVTestCase {
 
         Mat rvec = new Mat();
         Mat tvec = new Mat();
-        Cv3d.solvePnP(points3d, points2d, intrinsics, new MatOfDouble(), rvec, tvec);
+        Geometry.solvePnP(points3d, points2d, intrinsics, new MatOfDouble(), rvec, tvec);
 
         Mat truth_rvec = new Mat(3, 1, CvType.CV_64F);
         truth_rvec.put(0, 0, 0, Math.PI / 2, 0);
@@ -391,7 +391,7 @@ public class Cv3dTest extends OpenCVTestCase {
         Mat lines = new Mat();
         Mat truth = new Mat(1, 1, CvType.CV_32FC3);
         truth.put(0, 0, -0.70735186, 0.70686162, -0.70588124);
-        Cv3d.computeCorrespondEpilines(left, 1, fundamental, lines);
+        Geometry.computeCorrespondEpilines(left, 1, fundamental, lines);
         assertMatEqual(truth, lines, EPS);
     }
 
@@ -424,7 +424,7 @@ public class Cv3dTest extends OpenCVTestCase {
 
         Mat reprojectionError = new Mat(2, 1, CvType.CV_64FC1);
 
-        Cv3d.solvePnPGeneric(points3d, points2d, intrinsics, new MatOfDouble(), rvecs, tvecs, false, Cv3d.SOLVEPNP_IPPE, rvec, tvec, reprojectionError);
+        Geometry.solvePnPGeneric(points3d, points2d, intrinsics, new MatOfDouble(), rvecs, tvecs, false, Geometry.SOLVEPNP_IPPE, rvec, tvec, reprojectionError);
 
         Mat truth_rvec = new Mat(3, 1, CvType.CV_64F);
         truth_rvec.put(0, 0, 0, Math.PI / 2, 0);
@@ -437,14 +437,14 @@ public class Cv3dTest extends OpenCVTestCase {
     }
 
     public void testGetDefaultNewCameraMatrixMat() {
-        Mat mtx = Cv3d.getDefaultNewCameraMatrix(gray0);
+        Mat mtx = Geometry.getDefaultNewCameraMatrix(gray0);
 
         assertFalse(mtx.empty());
         assertEquals(0, Core.countNonZero(mtx));
     }
 
     public void testGetDefaultNewCameraMatrixMatSizeBoolean() {
-        Mat mtx = Cv3d.getDefaultNewCameraMatrix(gray0, size, true);
+        Mat mtx = Geometry.getDefaultNewCameraMatrix(gray0, size, true);
 
         assertFalse(mtx.empty());
         assertFalse(0 == Core.countNonZero(mtx));
@@ -466,7 +466,7 @@ public class Cv3dTest extends OpenCVTestCase {
         Mat map2 = new Mat();
 
         // TODO: complete this test
-        Cv3d.initUndistortRectifyMap(cameraMatrix, distCoeffs, R, newCameraMatrix, size, CvType.CV_32F, map1, map2);
+        Geometry.initUndistortRectifyMap(cameraMatrix, distCoeffs, R, newCameraMatrix, size, CvType.CV_32F, map1, map2);
     }
 
     public void testInitWideAngleProjMapMatMatSizeIntIntMatMat() {
@@ -485,7 +485,7 @@ public class Cv3dTest extends OpenCVTestCase {
         truth.put(1, 0, 0, 0, 0);
         truth.put(2, 0, 0, 3, 0);
         // TODO: No documentation for this function
-        // Cv3d.initWideAngleProjMap(cameraMatrix, distCoeffs, imageSize,
+        // Geometry.initWideAngleProjMap(cameraMatrix, distCoeffs, imageSize,
         // 5, m1type, truthput1, truthput2);
     }
 
@@ -512,7 +512,7 @@ public class Cv3dTest extends OpenCVTestCase {
             }
         };
 
-        Cv3d.undistort(src, dst, cameraMatrix, distCoeffs);
+        Geometry.undistort(src, dst, cameraMatrix, distCoeffs);
 
         truth = new Mat(3, 3, CvType.CV_32F) {
             {
@@ -540,7 +540,7 @@ public class Cv3dTest extends OpenCVTestCase {
         };
         Mat newCameraMatrix = new Mat(3, 3, CvType.CV_32F, new Scalar(1));
 
-        Cv3d.undistort(src, dst, cameraMatrix, distCoeffs, newCameraMatrix);
+        Geometry.undistort(src, dst, cameraMatrix, distCoeffs, newCameraMatrix);
 
         truth = new Mat(3, 3, CvType.CV_32F, new Scalar(3));
         assertMatEqual(truth, dst, EPS);
@@ -553,7 +553,7 @@ public class Cv3dTest extends OpenCVTestCase {
         Mat cameraMatrix = Mat.eye(3, 3, CvType.CV_64FC1);
         Mat distCoeffs = new Mat(8, 1, CvType.CV_64FC1, new Scalar(0));
 
-        Cv3d.undistortPoints(src, dst, cameraMatrix, distCoeffs);
+        Geometry.undistortPoints(src, dst, cameraMatrix, distCoeffs);
 
         assertEquals(src.cols(), dst.rows());
         assertEquals(src.rows(), dst.cols());
@@ -584,7 +584,7 @@ public class Cv3dTest extends OpenCVTestCase {
         K_new_truth.put(1,1, 373.6673784974842);
         K_new_truth.put(1,2, 538.794152656429);
 
-        Cv3d.fisheye_estimateNewCameraMatrixForUndistortRectify(K,D,new Size(1920,1080),
+        Geometry.fisheye_estimateNewCameraMatrixForUndistortRectify(K,D,new Size(1920,1080),
                     new Mat().eye(3, 3, CvType.CV_64F), K_new, 0.0, new Size(1920,1080));
 
         assertMatEqual(K_new, K_new_truth, EPS);
@@ -595,7 +595,7 @@ public class Cv3dTest extends OpenCVTestCase {
 
         MatOfPoint2f approxCurve = new MatOfPoint2f();
 
-        Cv3d.approxPolyDP(curve, approxCurve, EPS, true);
+        Geometry.approxPolyDP(curve, approxCurve, EPS, true);
 
         List<Point> approxCurveGold =  new ArrayList<Point>(3);
         approxCurveGold.add(new Point(1, 3));
@@ -617,7 +617,7 @@ public class Cv3dTest extends OpenCVTestCase {
 
         MatOfInt hull = new MatOfInt();
 
-        Cv3d.convexHull(points, hull);
+        Geometry.convexHull(points, hull);
 
         MatOfInt expHull = new MatOfInt(
                 0, 1, 2, 3
@@ -637,7 +637,7 @@ public class Cv3dTest extends OpenCVTestCase {
 
         MatOfInt hull = new MatOfInt();
 
-        Cv3d.convexHull(points, hull, true);
+        Geometry.convexHull(points, hull, true);
 
         MatOfInt expHull = new MatOfInt(
                 3, 2, 1, 0
@@ -656,10 +656,10 @@ public class Cv3dTest extends OpenCVTestCase {
         );
 
         MatOfInt hull = new MatOfInt();
-        Cv3d.convexHull(points, hull);
+        Geometry.convexHull(points, hull);
 
         MatOfInt4 convexityDefects = new MatOfInt4();
-        Cv3d.convexityDefects(points, hull, convexityDefects);
+        Geometry.convexityDefects(points, hull, convexityDefects);
 
         assertMatEqual(new MatOfInt4(3, 0, 5, 3620), convexityDefects.reshape(4, convexityDefects.cols()));
     }
@@ -668,7 +668,7 @@ public class Cv3dTest extends OpenCVTestCase {
         MatOfPoint2f points = new MatOfPoint2f(new Point(0, 0), new Point(-1, 1), new Point(1, 1), new Point(1, -1), new Point(-1, -1));
         RotatedRect rrect = new RotatedRect();
 
-        rrect = Cv3d.fitEllipse(points);
+        rrect = Geometry.fitEllipse(points);
 
         double FIT_ELLIPSE_CENTER_EPS = 0.01;
         double FIT_ELLIPSE_SIZE_EPS = 0.4;
@@ -686,7 +686,7 @@ public class Cv3dTest extends OpenCVTestCase {
         Mat linePoints = new Mat(4, 1, CvType.CV_32FC1);
         linePoints.put(0, 0, 0.53198653, 0.84675282, 2.5, 3.75);
 
-        Cv3d.fitLine(points, dst, Imgproc.DIST_L12, 0, 0.01, 0.01);
+        Geometry.fitLine(points, dst, Imgproc.DIST_L12, 0, 0.01, 0.01);
 
         assertMatEqual(linePoints, dst, EPS);
     }
@@ -694,11 +694,11 @@ public class Cv3dTest extends OpenCVTestCase {
     public void testIsContourConvex() {
         MatOfPoint contour1 = new MatOfPoint(new Point(0, 0), new Point(10, 0), new Point(10, 10), new Point(5, 4));
 
-        assertFalse(Cv3d.isContourConvex(contour1));
+        assertFalse(Geometry.isContourConvex(contour1));
 
         MatOfPoint contour2 = new MatOfPoint(new Point(0, 0), new Point(10, 0), new Point(10, 10), new Point(5, 6));
 
-        assertTrue(Cv3d.isContourConvex(contour2));
+        assertTrue(Geometry.isContourConvex(contour2));
     }
 
     public void testMatchShapes() {
@@ -707,7 +707,7 @@ public class Cv3dTest extends OpenCVTestCase {
         contour1.put(0, 0, 1, 1, 5, 1, 4, 3, 6, 2);
         contour2.put(0, 0, 1, 1, 6, 1, 4, 1, 2, 5);
 
-        double distance = Cv3d.matchShapes(contour1, contour2, Imgproc.CONTOURS_MATCH_I1, 1);
+        double distance = Geometry.matchShapes(contour1, contour2, Imgproc.CONTOURS_MATCH_I1, 1);
 
         assertEquals(2.81109697365334, distance, EPS);
     }
@@ -715,7 +715,7 @@ public class Cv3dTest extends OpenCVTestCase {
     public void testMinAreaRect() {
         MatOfPoint2f points = new MatOfPoint2f(new Point(1, 1), new Point(5, 1), new Point(4, 3), new Point(6, 2));
 
-        RotatedRect rrect = Cv3d.minAreaRect(points);
+        RotatedRect rrect = Geometry.minAreaRect(points);
 
         assertEquals(new Size(2, 5), rrect.size);
         assertEquals(-90., rrect.angle);
@@ -727,7 +727,7 @@ public class Cv3dTest extends OpenCVTestCase {
         Point actualCenter = new Point();
         float[] radius = new float[1];
 
-        Cv3d.minEnclosingCircle(points, actualCenter, radius);
+        Geometry.minEnclosingCircle(points, actualCenter, radius);
 
         assertEquals(new Point(0, 0), actualCenter);
         assertEquals(100.0f, radius[0], 1.0);
@@ -735,10 +735,10 @@ public class Cv3dTest extends OpenCVTestCase {
 
         public void testPointPolygonTest() {
         MatOfPoint2f contour = new MatOfPoint2f(new Point(0, 0), new Point(1, 3), new Point(3, 4), new Point(4, 3), new Point(2, 1));
-        double sign1 = Cv3d.pointPolygonTest(contour, new Point(2, 2), false);
+        double sign1 = Geometry.pointPolygonTest(contour, new Point(2, 2), false);
         assertEquals(1.0, sign1);
 
-        double sign2 = Cv3d.pointPolygonTest(contour, new Point(4, 4), true);
+        double sign2 = Geometry.pointPolygonTest(contour, new Point(4, 4), true);
         assertEquals(-Math.sqrt(0.5), sign2);
     }
 }

modules/geometry/misc/java/test/Subdiv2DTest.java

@@ -1,9 +1,9 @@
-package org.opencv.test.cv3d;
+package org.opencv.test.geometry;
 
 import org.opencv.core.MatOfFloat6;
 import org.opencv.core.Point;
 import org.opencv.core.Rect;
-import org.opencv.cv3d.Subdiv2D;
+import org.opencv.geometry.Subdiv2D;
 import org.opencv.test.OpenCVTestCase;
 
 public class Subdiv2DTest extends OpenCVTestCase {

modules/geometry/misc/js/gen_dict.json

@@ -0,0 +1,37 @@
+{
+    "whitelist":
+    {
+        "": [
+            "findHomography",
+            "drawFrameAxes",
+            "estimateAffine2D",
+            "getDefaultNewCameraMatrix",
+            "initUndistortRectifyMap",
+            "Rodrigues",
+            "solvePnP",
+            "solvePnPRansac",
+            "solvePnPRefineLM",
+            "projectPoints",
+            "undistort",
+            "fisheye_initUndistortRectifyMap",
+            "fisheye_projectPoints",
+            "approxPolyDP",
+            "approxPolyN",
+            "boundingRect",
+            "minAreaRect",
+            "minEnclosingCircle",
+            "minEnclosingTriangle",
+            "matchShapes",
+            "convexHull",
+            "convexityDefects",
+            "isContourConvex",
+            "intersectConvexConvex",
+            "fitEllipse",
+            "fitEllipseAMS",
+            "fitEllipseDirect",
+            "fitLine",
+            "pointPolygonTest"
+        ],
+        "UsacParams": ["UsacParams"]
+    }
+}

modules/geometry/perf/perf_precomp.hpp

@@ -5,7 +5,7 @@
 #define __OPENCV_PERF_PRECOMP_HPP__
 
 #include "opencv2/ts.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 
 #ifdef HAVE_OPENCL
 #include <opencv2/core/ocl.hpp>

modules/geometry/samples/odometry_evaluation.cpp

@@ -2,10 +2,9 @@
 // It is subject to the license terms in the LICENSE file found in the top-level directory
 // of this distribution and at http://opencv.org/license.html
 
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 
 #include <opencv2/highgui.hpp>
-#include <opencv2/3d.hpp>
 #include <opencv2/imgproc.hpp>
 #include <opencv2/core/utility.hpp>
 #include <opencv2/core/quaternion.hpp>

modules/geometry/src/mst.cpp

@@ -3,7 +3,7 @@
 // of this distribution and at http://opencv.org/license.html
 
 #include "precomp.hpp"
-#include <opencv2/3d/mst.hpp>
+#include <opencv2/geometry/mst.hpp>
 #include <queue>
 #include <tuple>
 

modules/geometry/src/octree.cpp

@@ -4,7 +4,7 @@
 
 #include "precomp.hpp"
 #include "octree.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry/3d.hpp"
 
 namespace cv{
 
@@ -692,4 +692,4 @@ void Octree::KNNSearch(const Point3f &query, const int K, OutputArray points, Ou
         Mat(outSqDists).copyTo(squareDists);
     }
 }
-}
+}

modules/geometry/src/pcc.h

@@ -12,7 +12,7 @@
 #include <vector>
 #include "opencv2/core.hpp"
 #include "octree.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry/3d.hpp"
 
 namespace cv {