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/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"