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

samples/cpp/3calibration.cpp

@@ -2,7 +2,7 @@
  * 3calibration.cpp -- Calibrate 3 cameras in a horizontal line together.
  */
 
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/stereo.hpp"
 #include "opencv2/calib.hpp"
 #include "opencv2/imgproc.hpp"

samples/cpp/CMakeLists.txt

@@ -11,7 +11,7 @@ set(OPENCV_CPP_SAMPLES_REQUIRED_DEPS
   opencv_objdetect
   opencv_photo
   opencv_features
-  opencv_3d
+  opencv_geometry
   opencv_stereo
   opencv_calib
   opencv_stitching

samples/cpp/asift.cpp

@@ -2,7 +2,7 @@
 #include <opencv2/imgproc.hpp>
 #include <opencv2/features.hpp>
 #include <opencv2/highgui.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry/3d.hpp>
 #include <iostream>
 #include <iomanip>
 #ifdef HAVE_OPENCV_XFEATURES2D

samples/cpp/calibration.cpp

@@ -1,7 +1,7 @@
 #include "opencv2/core.hpp"
 #include "opencv2/core/utility.hpp"
 #include "opencv2/imgproc.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/calib.hpp"
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/videoio.hpp"

samples/cpp/delaunay2.cpp

@@ -1,4 +1,4 @@
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry/2d.hpp>
 #include <opencv2/imgproc.hpp>
 #include <opencv2/highgui.hpp>
 #include <iostream>

samples/cpp/essential_mat_reconstr.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 "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/features.hpp"
 #include "opencv2/highgui.hpp"
 #include "opencv2/imgproc.hpp"

samples/cpp/geometry.cpp

@@ -16,7 +16,7 @@
  *
  *********************************************************************************/
 
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry/2d.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/highgui.hpp"
 #include <iostream>

samples/cpp/select3dobj.cpp

@@ -11,7 +11,7 @@
 #include "opencv2/core.hpp"
 #include <opencv2/core/utility.hpp>
 #include "opencv2/imgproc.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/calib.hpp"
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/objdetect.hpp"

samples/cpp/snippets/epipolar_lines.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 "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/features.hpp"
 #include "opencv2/highgui.hpp"
 #include "opencv2/imgproc.hpp"
@@ -104,4 +104,4 @@ int main(int args, char** argv) {
     imshow("epipolar lines, image 1, 2", image1);
     imwrite("epipolar_lines.png", image1);
     waitKey(0);
-}
+}

samples/cpp/snippets/intersectExample.cpp

@@ -4,7 +4,7 @@
  * A program that illustrates intersectConvexConvex in various scenarios
  */
 
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/highgui.hpp"
 

samples/cpp/snippets/lsd_lines.cpp

@@ -1,4 +1,4 @@
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry/2d.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/highgui.hpp"

samples/cpp/snippets/squares.cpp

@@ -4,7 +4,7 @@
 // each image
 
 #include "opencv2/core.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/highgui.hpp"

samples/cpp/stereo_calib.cpp

@@ -20,7 +20,7 @@
      GitHub:        https://github.com/opencv/opencv/
    ************************************************** */
 
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/stereo.hpp"
 #include "opencv2/calib.hpp"
 #include "opencv2/imgcodecs.hpp"

samples/cpp/stereo_match.cpp

@@ -6,7 +6,7 @@
  *  Copyright 2010 Argus Corp. All rights reserved.
  *
  */
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/stereo.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/imgcodecs.hpp"

samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo1.cpp

@@ -6,7 +6,7 @@
 
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/highgui.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/imgproc.hpp"
 #include <iostream>
 

samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo2.cpp

@@ -6,7 +6,7 @@
 
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/highgui.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/imgproc.hpp"
 #include <iostream>
 

samples/cpp/tutorial_code/ShapeDescriptors/hull_demo.cpp

@@ -6,7 +6,7 @@
 
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/highgui.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/imgproc.hpp"
 #include <iostream>
 

samples/cpp/tutorial_code/ShapeDescriptors/pointPolygonTest_demo.cpp

@@ -5,7 +5,7 @@
  */
 
 #include "opencv2/highgui.hpp"
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/imgproc.hpp"
 #include <iostream>
 

samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp

@@ -7,7 +7,7 @@
 #include <opencv2/core.hpp>
 #include <opencv2/core/utility.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 #include <opencv2/calib.hpp>
 #include <opencv2/imgcodecs.hpp>
 #include <opencv2/videoio.hpp>

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp

@@ -6,7 +6,7 @@
  */
 
 #include "Mesh.h"
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 
 // --------------------------------------------------- //
 //                   TRIANGLE CLASS                    //

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp

@@ -11,7 +11,7 @@
 #include "PnPProblem.h"
 #include "Mesh.h"
 
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 
 /* Functions for Möller-Trumbore intersection algorithm */
 static cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2)

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp

@@ -13,7 +13,7 @@
 
 #include <opencv2/opencv_modules.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 #include <opencv2/flann.hpp>
 #if defined (HAVE_OPENCV_XFEATURES2D)
 #include <opencv2/xfeatures2d.hpp>

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp

@@ -5,7 +5,7 @@
 #include <opencv2/core/utils/filesystem.hpp>
 #include <opencv2/highgui.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 #include <opencv2/video/tracking.hpp>
 // PnP Tutorial
 #include "Mesh.h"

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp

@@ -3,7 +3,7 @@
 // OpenCV
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 #include <opencv2/features.hpp>
 // PnP Tutorial
 #include "Mesh.h"

samples/cpp/tutorial_code/features/AKAZE_tracking/planar_tracking.cpp

@@ -7,7 +7,7 @@
 #include "opencv2/xfeatures2d.hpp"
 #include <opencv2/videoio.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 #include <opencv2/highgui.hpp>      //for imshow
 
 #include "stats.h" // Stats structure definition
@@ -220,4 +220,4 @@ int main()
     std::cout << "This tutorial code needs the xfeatures2d contrib module to be run." << std::endl;
     return 0;
 }
-#endif
+#endif

samples/cpp/tutorial_code/features/Homography/decompose_homography.cpp

@@ -1,7 +1,7 @@
 #include <iostream>
 #include <opencv2/core.hpp>
 #include <opencv2/highgui.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 #include <opencv2/calib.hpp>
 #include <opencv2/objdetect.hpp>
 

samples/cpp/tutorial_code/features/Homography/homography_from_camera_displacement.cpp

@@ -2,7 +2,7 @@
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
 #include <opencv2/highgui.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 #include <opencv2/objdetect.hpp>
 #include <opencv2/calib.hpp>
 

samples/cpp/tutorial_code/features/Homography/perspective_correction.cpp

@@ -1,7 +1,7 @@
 #include <iostream>
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 #include <opencv2/calib.hpp>
 #include <opencv2/objdetect.hpp>
 #include <opencv2/highgui.hpp>

samples/cpp/tutorial_code/features/Homography/pose_from_homography.cpp

@@ -1,7 +1,7 @@
 #include <iostream>
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 #include <opencv2/calib.hpp>
 #include <opencv2/objdetect.hpp>
 #include <opencv2/highgui.hpp>

samples/cpp/tutorial_code/features/feature_homography/SURF_FLANN_matching_homography_Demo.cpp

@@ -1,7 +1,7 @@
 #include <iostream>
 #include "opencv2/core.hpp"
 #ifdef HAVE_OPENCV_XFEATURES2D
-#include "opencv2/3d.hpp"
+#include "opencv2/geometry.hpp"
 #include "opencv2/highgui.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/features.hpp"

samples/cpp/tutorial_code/snippets/3d_sac_segmentation.cpp

@@ -11,7 +11,7 @@
  */
 
 #include <opencv2/core.hpp>
-#include <opencv2/3d.hpp>
+#include <opencv2/geometry.hpp>
 
 bool customFunc(const std::vector<double> &model_coefficients);
 
@@ -87,4 +87,4 @@ int planeSegmentationUsingRANSAC(const cv::Mat &pt_cloud,
 int main()
 {
 
-}
+}