Merge pull request #22925 from savuor:pytsdf_from_scratch

Fixes #22799

Replaces #21559 which was taken as a base

Connected PR in contrib: [#3388@contrib](https://github.com/opencv/opencv_contrib/pull/3388)

### Changes
OK, now this is more Odometry-related PR than Volume-related. Anyway,
* `Volume` class gets wrapped
* The same was done for helper classes like `VolumeSettings`, `OdometryFrame` and `OdometrySettings`
* `OdometryFrame` constructor signature changed to more convenient where depth goes on 1st place, RGB image on 2nd.
This works better for depth-only `Odometry` algorithms.
* `OdometryFrame` is checked for amount of pyramid layers inside `Odometry::compute()`
* `Odometry` was fully wrapped + more docs added
* Added Python tests for `Odometry`, `OdometryFrame` and `Volume`
* Added Python sample for `Volume`
* Minor fixes including better var names

### 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
- [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/3d/misc/python/test/test_odometry.py

@@ -6,7 +6,7 @@ import cv2 as cv
 from tests_common import NewOpenCVTests
 
 class odometry_test(NewOpenCVTests):
-    def commonOdometryTest(self, needRgb, otype):
+    def commonOdometryTest(self, needRgb, otype, algoType, useFrame):
         depth = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH).astype(np.float32)
         if needRgb:
             rgb = self.get_sample('cv/rgbd/rgb.png', cv.IMREAD_ANYCOLOR)
@@ -25,15 +25,29 @@ class odometry_test(NewOpenCVTests):
         Rt_res = np.zeros((4, 4))
 
         if otype is not None:
-            odometry = cv.Odometry(otype)
+            settings = cv.OdometrySettings()
+            odometry = cv.Odometry(otype, settings, algoType)
         else:
             odometry = cv.Odometry()
+
         warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
         if needRgb:
             warped_rgb = cv.warpPerspective(rgb, Rt_warp, (640, 480))
-            isCorrect = odometry.compute(depth, rgb, warped_depth, warped_rgb, Rt_res)
+
+        if useFrame:
+            if needRgb:
+                srcFrame = cv.OdometryFrame(depth, rgb)
+                dstFrame = cv.OdometryFrame(warped_depth, warped_rgb)
+            else:
+                srcFrame = cv.OdometryFrame(depth)
+                dstFrame = cv.OdometryFrame(warped_depth)
+            odometry.prepareFrames(srcFrame, dstFrame)
+            isCorrect = odometry.compute(srcFrame, dstFrame, Rt_res)
         else:
-            isCorrect = odometry.compute(depth, warped_depth, Rt_res)
+            if needRgb:
+                isCorrect = odometry.compute(depth, rgb, warped_depth, warped_rgb, Rt_res)
+            else:
+                isCorrect = odometry.compute(depth, warped_depth, Rt_res)
 
         res = np.absolute(Rt_curr - Rt_res).sum()
         eps = 0.15
@@ -41,16 +55,34 @@ class odometry_test(NewOpenCVTests):
         self.assertTrue(isCorrect)
 
     def test_OdometryDefault(self):
-        self.commonOdometryTest(False, None)
+        self.commonOdometryTest(False, None, None, False)
+
+    def test_OdometryDefaultFrame(self):
+        self.commonOdometryTest(False, None, None, True)
 
     def test_OdometryDepth(self):
-        self.commonOdometryTest(False, cv.DEPTH)
+        self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_COMMON, False)
+
+    def test_OdometryDepthFast(self):
+        self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_FAST, False)
+
+    def test_OdometryDepthFrame(self):
+        self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_COMMON, True)
+
+    def test_OdometryDepthFastFrame(self):
+        self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_FAST, True)
 
     def test_OdometryRGB(self):
-        self.commonOdometryTest(True, cv.RGB)
+        self.commonOdometryTest(True, cv.OdometryType_RGB, cv.OdometryAlgoType_COMMON, False)
+
+    def test_OdometryRGBFrame(self):
+        self.commonOdometryTest(True, cv.OdometryType_RGB, cv.OdometryAlgoType_COMMON, True)
 
     def test_OdometryRGB_Depth(self):
-        self.commonOdometryTest(True, cv.RGB_DEPTH)
+        self.commonOdometryTest(True, cv.OdometryType_RGB_DEPTH, cv.OdometryAlgoType_COMMON, False)
+
+    def test_OdometryRGB_DepthFrame(self):
+        self.commonOdometryTest(True, cv.OdometryType_RGB_DEPTH, cv.OdometryAlgoType_COMMON, True)
 
 if __name__ == '__main__':
     NewOpenCVTests.bootstrap()