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/java/tutorial_code/features/Homography/PerspectiveCorrection.java

@@ -3,7 +3,7 @@ import java.util.List;
 import java.util.Random;
 
 import org.opencv.core.*;
-import org.opencv.3d.Cv3d;
+import org.opencv.geometry.Geometry;
 import org.opencv.calib.Calib;
 import org.opencv.highgui.HighGui;
 import org.opencv.imgcodecs.Imgcodecs;
@@ -29,7 +29,7 @@ class PerspectiveCorrectionRun {
 
         //! [estimate-homography]
         Mat H = new Mat();
-        H = Cv3d.findHomography(corners1, corners2);
+        H = Geometry.findHomography(corners1, corners2);
         System.out.println(H.dump());
         //! [estimate-homography]
 

samples/java/tutorial_code/features/feature_homography/SURFFLANNMatchingHomographyDemo.java

@@ -1,7 +1,7 @@
 import java.util.ArrayList;
 import java.util.List;
 
-import org.opencv._3d;
+import org.opencv.geometry.Geometry;
 import org.opencv.core.Core;
 import org.opencv.core.CvType;
 import org.opencv.core.DMatch;
@@ -82,7 +82,7 @@ class SURFFLANNMatchingHomography {
         objMat.fromList(obj);
         sceneMat.fromList(scene);
         double ransacReprojThreshold = 3.0;
-        Mat H = Cv3d.findHomography( objMat, sceneMat, Cv3d.RANSAC, ransacReprojThreshold );
+        Mat H = Geometry.findHomography( objMat, sceneMat, Geometry.RANSAC, ransacReprojThreshold );
 
         //-- Get the corners from the image_1 ( the object to be "detected" )
         Mat objCorners = new Mat(4, 1, CvType.CV_32FC2), sceneCorners = new Mat();