OpenCV 5.x: wrap rgbd module (linemod + KinFu family)

[shimat]

Summary

opencv_contrib's rgbd module is not wrapped in OpenCvSharp at all, but compiles cleanly with the project's existing dependency set (needs opencv_geometry + opencv_ptcloud, both already wrapped; OpenGL/opencv_viz interop is optional-only). It's the single largest genuinely-buildable net-new module found during the OpenCV 5.x coverage audit that started from closing the geometry/segment.hpp gap (#2000/#2001), so it gets its own tracking issue rather than being folded into the smaller net-new-modules issue.

Baseline: opencv_contrib @ 755e506 (pinned submodule commit on main).

Surface

linemod — template-matching detection pipeline

• linemod::Detector — the core template-matching detector (addTemplate, match, read/write, template persistence)
• linemod::Modality + concrete modalities (ColorGradient, DepthNormal) — feature-extraction strategies the detector composes

KinFu volumetric-fusion family — 4 Algorithm-derived classes, each with a Params struct

• kinfu::KinFu — the base real-time dense-SLAM reconstruction pipeline
• dynafu::DynaFu — non-rigid (deformable-scene) variant
• colored_kinfu::ColoredKinFu — color-aware variant
• large_kinfu::LargeKinfu — large-scale-scene variant

Suggested approach

Same shape as the recently-wrapped ptcloud classes (VolumeSettings/Volume) — CvPtrObject-based algorithm-class pattern with a create() factory per class, per .github/copilot-instructions.md's "Adding a new OpenCV class wrapper" checklist. Given the size (5 classes total, each with a non-trivial Params struct), this is realistically a multi-PR effort:

1. linemod::Detector + Modality family (smallest independent unit)
2. kinfu::KinFu (the base/simplest volumetric class)
3. dynafu::DynaFu / colored_kinfu::ColoredKinFu / large_kinfu::LargeKinfu (each shares most of its shape with KinFu, so these should go faster once the first one establishes the pattern)

Notes

Effort: large overall (multi-class family); each individual class is roughly medium-to-large on its own once the shared Params-struct pattern is established by the first PR.