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/objdetect/CMakeLists.txt

@@ -3,7 +3,7 @@ ocv_define_module(objdetect
     opencv_core
     opencv_imgproc
     opencv_features
-    opencv_3d
+    opencv_geometry
     OPTIONAL
         opencv_dnn
     WRAP

modules/objdetect/misc/java/test/ObjdetectTest.java

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

modules/objdetect/perf/perf_aruco.cpp

@@ -2,7 +2,7 @@
 // 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 "perf_precomp.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 
 namespace opencv_test {
 using namespace perf;

modules/objdetect/src/aruco/aruco_detector.cpp

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

modules/objdetect/src/aruco/charuco_detector.cpp

@@ -4,7 +4,7 @@
 
 #include "../precomp.hpp"
 
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 #include <opencv2/core/utils/logger.hpp>
 #include "opencv2/objdetect/charuco_detector.hpp"
 #include "aruco_utils.hpp"

modules/objdetect/src/barcode_detector/bardetect.cpp

@@ -5,7 +5,7 @@
 
 #include "../precomp.hpp"
 #include "bardetect.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 
 namespace cv {
 namespace barcode {

modules/objdetect/src/calibinit.cpp

@@ -71,7 +71,7 @@
 
 #include "precomp.hpp"
 #include "circlesgrid.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/flann.hpp"
 
 #include <stack>

modules/objdetect/src/chessboard.cpp

@@ -4,7 +4,7 @@
 
 #include "precomp.hpp"
 #include "opencv2/flann.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "chessboard.hpp"
 #include "math.h"
 

modules/objdetect/src/circlesgrid.cpp

@@ -57,7 +57,7 @@
 #  endif
 #endif
 
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 
 namespace cv {
 

modules/objdetect/src/mcc/precomp.hpp

@@ -33,7 +33,7 @@
 
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 #ifdef HAVE_OPENCV_DNN
 #include <opencv2/dnn.hpp>
 #endif

modules/objdetect/src/precomp.hpp

@@ -47,7 +47,7 @@
 #include "opencv2/objdetect.hpp"
 #include "opencv2/objdetect/barcode.hpp"
 #include "opencv2/imgproc.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 
 #include <opencv2/core/utils/logger.hpp>
 #include "opencv2/core/utility.hpp"

modules/objdetect/src/qrcode.cpp

@@ -7,7 +7,7 @@
 
 #include "precomp.hpp"
 #include "opencv2/objdetect.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include <opencv2/core/utils/logger.hpp>
 #include "graphical_code_detector_impl.hpp"
 

modules/objdetect/test/test_aruco_utils.hpp

@@ -3,7 +3,7 @@
 // of this distribution and at http://opencv.org/license.html.
 
 #include "test_precomp.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 
 namespace opencv_test {
 

modules/objdetect/test/test_arucodetection.cpp

@@ -4,7 +4,7 @@
 
 #include "test_precomp.hpp"
 #include "opencv2/objdetect/aruco_detector.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 
 namespace cv {
     namespace aruco {

modules/objdetect/test/test_precomp.hpp

@@ -5,7 +5,7 @@
 #define __OPENCV_TEST_PRECOMP_HPP__
 
 #include "opencv2/ts.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/objdetect.hpp"
 
 #include <random>