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

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"