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/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>