Merge pull request #25308 from dkurt:not_normalized_findHomography

Not-normalized output from findHomography #25308

### Pull Request Readiness Checklist

resolves https://github.com/opencv/opencv/issues/25133
resolves https://github.com/opencv/opencv/issues/4834
resolves https://github.com/opencv/opencv/issues/22166
resolves https://github.com/opencv/opencv/issues/18592

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
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake

modules/calib3d/include/opencv2/calib3d.hpp

@@ -726,8 +726,8 @@ correctly only when there are more than 50% of inliers. Finally, if there are no
 noise is rather small, use the default method (method=0).
 
 The function is used to find initial intrinsic and extrinsic matrices. Homography matrix is
-determined up to a scale. Thus, it is normalized so that \f$h_{33}=1\f$. Note that whenever an \f$H\f$ matrix
-cannot be estimated, an empty one will be returned.
+determined up to a scale. If \f$h_{33}\f$ is non-zero, the matrix is normalized so that \f$h_{33}=1\f$.
+@note Whenever an \f$H\f$ matrix cannot be estimated, an empty one will be returned.
 
 @sa
 getAffineTransform, estimateAffine2D, estimateAffinePartial2D, getPerspectiveTransform, warpPerspective,