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/perf/perf_tsdf.cpp

@@ -584,7 +584,7 @@ PERF_TEST_P_(VolumePerfFixture, integrate)
         UMat urgb, udepth;
         depth.copyTo(udepth);
         rgb.copyTo(urgb);
-        OdometryFrame odf(urgb, udepth);
+        OdometryFrame odf(udepth, urgb);
 
         bool done = false;
         while (repeat1st ? next() : !done)
@@ -621,7 +621,7 @@ PERF_TEST_P_(VolumePerfFixture, raycast)
         depth.copyTo(udepth);
         rgb.copyTo(urgb);
 
-        OdometryFrame odf(urgb, udepth);
+        OdometryFrame odf(udepth, urgb);
 
         if (testSrcType == VolumeTestSrcType::MAT)
             if (volumeType == VolumeType::ColorTSDF)