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/test/test_odometry.cpp

@@ -143,7 +143,7 @@ void OdometryTest::checkUMats()
     OdometrySettings ods;
     ods.setCameraMatrix(K);
     Odometry odometry = Odometry(otype, ods, algtype);
-    OdometryFrame odf(uimage, udepth);
+    OdometryFrame odf(udepth, uimage);
 
     Mat calcRt;
 
@@ -166,7 +166,7 @@ void OdometryTest::run()
     OdometrySettings ods;
     ods.setCameraMatrix(K);
     Odometry odometry = Odometry(otype, ods, algtype);
-    OdometryFrame odf(image, depth);
+    OdometryFrame odf(depth, image);
     Mat calcRt;
 
     // 1. Try to find Rt between the same frame (try masks also).
@@ -199,8 +199,8 @@ void OdometryTest::run()
         warpFrame(depth, image, noArray(), rt.matrix, K, warpedDepth, warpedImage);
         dilateFrame(warpedImage, warpedDepth); // due to inaccuracy after warping
 
-        OdometryFrame odfSrc(image, depth);
-        OdometryFrame odfDst(warpedImage, warpedDepth);
+        OdometryFrame odfSrc(depth, image);
+        OdometryFrame odfDst(warpedDepth, warpedImage);
 
         odometry.prepareFrames(odfSrc, odfDst);
         isComputed = odometry.compute(odfSrc, odfDst, calcRt);
@@ -272,7 +272,7 @@ void OdometryTest::prepareFrameCheck()
     OdometrySettings ods;
     ods.setCameraMatrix(K);
     Odometry odometry = Odometry(otype, ods, algtype);
-    OdometryFrame odf(gtImage, gtDepth);
+    OdometryFrame odf(gtDepth, gtImage);
 
     odometry.prepareFrame(odf);