Merge pull request #22598 from savuor:icp_oframe_readonly

Complement PR: #3366@contrib
Changes

    OdometryFrame losts its getters: a user can provide data at construction stage only, pyramids and other generated data is read-only now
    OdometryFrame is based on UMats: no TMat templates inside, CPU operations are done with UMat::getMat() method, chaining issues are solved ad-hoc
    No more Odometry::createOdometryFrame() method, frames are compatible with all odometry algorithms
    Normals computer is cached inside Odometry and exposed to API as well as its settings
    Volume::raycast() won't return the result in OdometryFrame anymore
    Added test for Odometry::prepareFrame*() & other test fixes
    Minor code improvements

TODOs:

    fix TODOs in code
    lower acceptable accuracy errors

modules/3d/samples/odometry_evaluation.cpp

@@ -128,8 +128,7 @@ int main(int argc, char** argv)
         return -1;
     }
 
-    OdometryFrame frame_prev = odometry.createOdometryFrame(),
-                  frame_curr = odometry.createOdometryFrame();
+    OdometryFrame frame_prev, frame_curr;
 
     TickMeter gtm;
     int count = 0;
@@ -182,8 +181,7 @@ int main(int argc, char** argv)
         {
             Mat gray;
             cvtColor(image, gray, COLOR_BGR2GRAY);
-            frame_curr.setImage(gray);
-            frame_curr.setDepth(depth);
+            frame_curr = OdometryFrame(gray, depth);
 
             Mat Rt;
             if(!Rts.empty())
@@ -216,7 +214,7 @@ int main(int argc, char** argv)
             //if (!frame_prev.empty())
             //    frame_prev.release();
             frame_prev = frame_curr;
-            frame_curr = odometry.createOdometryFrame();
+            frame_curr = OdometryFrame();
             //std::swap(frame_prev, frame_curr);
         }
     }