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_ptcloud_utils.hpp

@@ -0,0 +1,43 @@
+// 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) 2021, Wanli Zhong <zhongwl2018@mail.sustech.edu.cn>
+
+#ifndef OPENCV_TEST_PTCLOUD_UTILS_HPP
+#define OPENCV_TEST_PTCLOUD_UTILS_HPP
+
+#include "test_precomp.hpp"
+
+namespace opencv_test {
+
+/**
+ * @brief Generate a specific plane with random points.
+ *
+ * @param[out] plane_pts Point cloud of plane, only support vector<Point3f> or Mat with Nx3 layout
+ *                       in memory.
+ * @param model Plane coefficient [a,b,c,d] means ax+by+cz+d=0.
+ * @param thr Generate the maximum distance from the point to the plane.
+ * @param num The number of points.
+ * @param limit The range of xyz coordinates of the generated plane.
+ *
+ */
+void generatePlane(OutputArray plane_pts, const vector<float> &model, float thr, int num,
+        const vector<float> &limit);
+
+/**
+ * @brief Generate a specific sphere with random points.
+ *
+ * @param[out] sphere_pts Point cloud of plane, only support vector<Point3f> or Mat with Nx3 layout
+ *                       in memory.
+ * @param model Plane coefficient [a,b,c,d] means x^2+y^2+z^2=r^2.
+ * @param thr Generate the maximum distance from the point to the surface of sphere.
+ * @param num The number of points.
+ * @param limit The range of vector to make the generated sphere incomplete.
+ *
+ */
+void generateSphere(OutputArray sphere_pts, const vector<float> &model, float thr, int num,
+        const vector<float> &limit);
+
+} // opencv_test
+#endif //OPENCV_TEST_PTCLOUD_UTILS_HPP