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/geometry/test/test_normal_estimation.cpp

@@ -0,0 +1,64 @@
+// 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.
+//
+// Copyright (C) 2022, Wanli Zhong <zhongwl2018@mail.sustech.edu.cn>
+
+#include "test_precomp.hpp"
+#include "test_ptcloud_utils.hpp"
+#include "opencv2/flann.hpp"
+
+namespace opencv_test { namespace {
+
+TEST(NormalEstimationTest, PlaneNormalEstimation)
+{
+    // generate a plane for test
+    Mat plane_pts;
+    vector<float> model({1, 2, 3, 4});
+    float thr = 0.f;
+    int num = 1000;
+    vector<float> limit({5, 55, 5, 55, 0, 0});
+    generatePlane(plane_pts, model, thr, num, limit);
+
+    // get knn search result
+    int k = 10;
+    Mat knn_idx(num, k, CV_32S);
+    // build kdtree
+    flann::Index tree(plane_pts, flann::KDTreeIndexParams());
+    tree.knnSearch(plane_pts, knn_idx, noArray(), k);
+    // estimate normal and curvature
+    vector<Point3f> normals;
+    vector<float> curvatures;
+    normalEstimate(normals, curvatures, plane_pts, knn_idx, k);
+
+    float theta_thr = 1.f; // threshold for degree of angle between normal of plane and normal of point
+    float curvature_thr = 0.01f; // threshold for curvature and actual curvature of the point
+    float actual_curvature = 0.f;
+
+    Point3f n1(model[0], model[1], model[2]);
+    float n1m = n1.dot(n1);
+    float total_theta = 0.f;
+    float total_diff_curvature = 0.f;
+    for (int i = 0; i < num; ++i)
+    {
+        float n12 = n1.dot(normals[i]);
+        float n2m = normals[i].dot(normals[i]);
+        float cos_theta = n12 / sqrt(n1m * n2m);
+        // accuracy problems caused by float numbers, need to be fixed
+        cos_theta = cos_theta > 1 ? 1 : cos_theta;
+        cos_theta = cos_theta < -1 ? -1 : cos_theta;
+        float theta = acos(abs(cos_theta));
+
+        total_theta += theta;
+        total_diff_curvature += abs(curvatures[i] - actual_curvature);
+    }
+
+    float avg_theta = total_theta / (float) num;
+    ASSERT_LE(avg_theta, theta_thr);
+
+    float avg_diff_curvature = total_diff_curvature / (float) num;
+    ASSERT_LE(avg_diff_curvature, curvature_thr);
+}
+
+} // namespace
+} // opencv_test