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/video/CMakeLists.txt

@@ -3,7 +3,7 @@ ocv_add_dispatched_file(lkpyramid SSE2 SSE4_1 AVX2 AVX512_SKX AVX512_ICL)
 ocv_define_module(video
     opencv_imgproc
     OPTIONAL
-      opencv_3d
+      opencv_geometry
       opencv_features
       opencv_dnn
     WRAP

modules/video/perf/opencl/perf_optflow_pyrlk.cpp

@@ -46,9 +46,11 @@
 
 #include "../perf_precomp.hpp"
 #include "opencv2/ts/ocl_perf.hpp"
+#ifdef HAVE_OPENCV_FEATURES
 #include "opencv2/features.hpp"
+#endif
 
-#ifdef HAVE_OPENCL
+#if defined(HAVE_OPENCL) && defined(HAVE_OPENCV_FEATURES)
 
 namespace opencv_test {
 namespace ocl {

modules/video/src/lkpyramid.cpp

@@ -46,8 +46,8 @@
 #include "lkpyramid.hpp"
 #include "opencl_kernels_video.hpp"
 #include "opencv2/core/hal/intrin.hpp"
-#ifdef HAVE_OPENCV_3D
-#include "opencv2/3d.hpp"
+#ifdef HAVE_OPENCV_GEOMETRY
+#include "opencv2/geometry.hpp"
 #endif
 
 #include "hal_replacement.hpp"
@@ -1213,9 +1213,9 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
 cv::Mat cv::estimateRigidTransform( InputArray src1, InputArray src2, bool fullAffine )
 {
     CV_INSTRUMENT_REGION();
-#ifndef HAVE_OPENCV_3D
+#ifndef HAVE_OPENCV_GEOMETRY
     CV_UNUSED(src1); CV_UNUSED(src2); CV_UNUSED(fullAffine);
-    CV_Error(Error::StsError, "estimateRigidTransform requires 3d module");
+    CV_Error(Error::StsError, "estimateRigidTransform requires geometry module");
 #else
     Mat A = src1.getMat(), B = src2.getMat();
 

modules/video/test/ocl/test_optflowpyrlk.cpp

@@ -44,10 +44,12 @@
 
 #include "../test_precomp.hpp"
 #include "opencv2/ts/ocl_test.hpp"
+#ifdef HAVE_OPENCV_FEATURES
 #include "opencv2/features.hpp"
+#endif
 
 
-#ifdef HAVE_OPENCL
+#if defined(HAVE_OPENCL) && defined(HAVE_OPENCV_FEATURES)
 
 namespace opencv_test { namespace ocl {