Merge pull request #25042 from mshabunin:doc-upgrade

Documentation transition to fresh Doxygen #25042

* current Doxygen version is 1.10, but we will use 1.9.8 for now due to issue with snippets (https://github.com/doxygen/doxygen/pull/10584)
* Doxyfile adapted to new version
* MathJax updated to 3.x
* `@relates` instructions removed temporarily due to issue in Doxygen (to avoid warnings)
* refactored matx.hpp - extracted matx.inl.hpp
* opencv_contrib - https://github.com/opencv/opencv_contrib/pull/3638

modules/features2d/include/opencv2/features2d.hpp

@@ -56,15 +56,15 @@
     @defgroup features2d_main Feature Detection and Description
     @defgroup features2d_match Descriptor Matchers
 
-Matchers of keypoint descriptors in OpenCV have wrappers with a common interface that enables you to
-easily switch between different algorithms solving the same problem. This section is devoted to
-matching descriptors that are represented as vectors in a multidimensional space. All objects that
-implement vector descriptor matchers inherit the DescriptorMatcher interface.
+    Matchers of keypoint descriptors in OpenCV have wrappers with a common interface that enables
+    you to easily switch between different algorithms solving the same problem. This section is
+    devoted to matching descriptors that are represented as vectors in a multidimensional space.
+    All objects that implement vector descriptor matchers inherit the DescriptorMatcher interface.
 
     @defgroup features2d_draw Drawing Function of Keypoints and Matches
     @defgroup features2d_category Object Categorization
 
-This section describes approaches based on local 2D features and used to categorize objects.
+    This section describes approaches based on local 2D features and used to categorize objects.
 
     @defgroup feature2d_hal Hardware Acceleration Layer
     @{
@@ -567,10 +567,6 @@ public:
     CV_WRAP virtual String getDefaultName() const CV_OVERRIDE;
 };
 
-//! @} features2d_main
-
-//! @addtogroup features2d_main
-//! @{
 
 /** @brief Wrapping class for feature detection using the FAST method. :
  */
@@ -627,10 +623,6 @@ detection, use cv.FAST.detect() method.
 CV_EXPORTS void FAST( InputArray image, CV_OUT std::vector<KeyPoint>& keypoints,
                       int threshold, bool nonmaxSuppression, FastFeatureDetector::DetectorType type );
 
-//! @} features2d_main
-
-//! @addtogroup features2d_main
-//! @{
 
 /** @brief Wrapping class for feature detection using the AGAST method. :
  */
@@ -793,10 +785,6 @@ public:
   CV_WRAP virtual const std::vector<std::vector<cv::Point> >& getBlobContours() const;
 };
 
-//! @} features2d_main
-
-//! @addtogroup features2d_main
-//! @{
 
 /** @brief Class implementing the KAZE keypoint detector and descriptor extractor, described in @cite ABD12 .
 
@@ -925,7 +913,6 @@ public:
     CV_WRAP virtual int getMaxPoints() const = 0;
 };
 
-//! @} features2d_main
 
 /****************************************************************************************\
 *                                      Distance                                          *
@@ -990,6 +977,8 @@ struct L1
     }
 };
 
+//! @} features2d_main
+
 /****************************************************************************************\
 *                                  DescriptorMatcher                                     *
 \****************************************************************************************/
@@ -1431,6 +1420,9 @@ CV_EXPORTS_AS(drawMatchesKnn) void drawMatches( InputArray img1, const std::vect
 *   Functions to evaluate the feature detectors and [generic] descriptor extractors      *
 \****************************************************************************************/
 
+//! @addtogroup features2d_main
+//! @{
+
 CV_EXPORTS void evaluateFeatureDetector( const Mat& img1, const Mat& img2, const Mat& H1to2,
                                          std::vector<KeyPoint>* keypoints1, std::vector<KeyPoint>* keypoints2,
                                          float& repeatability, int& correspCount,
@@ -1443,6 +1435,8 @@ CV_EXPORTS void computeRecallPrecisionCurve( const std::vector<std::vector<DMatc
 CV_EXPORTS float getRecall( const std::vector<Point2f>& recallPrecisionCurve, float l_precision );
 CV_EXPORTS int getNearestPoint( const std::vector<Point2f>& recallPrecisionCurve, float l_precision );
 
+//! @}
+
 /****************************************************************************************\
 *                                     Bag of visual words                                *
 \****************************************************************************************/
@@ -1603,8 +1597,6 @@ protected:
 
 //! @} features2d_category
 
-//! @} features2d
-
 } /* namespace cv */
 
 #endif