Merge pull request #29224 from asmorkalov:as/ptcloud2

Dedicated pointcloud module #29224

OpenCV contrib: https://github.com/opencv/opencv_contrib/pull/4134

### 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
- [ ] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake

modules/ptcloud/misc/python/test_octree.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python
+
+import os
+import numpy as np
+import math
+import unittest
+import cv2 as cv
+
+from tests_common import NewOpenCVTests
+
+class octree_test(NewOpenCVTests):
+    def test_octree_basic_test(self):
+        pointCloudSize = 1000
+        resolution = 0.0001
+        scale = 1 << 20
+
+        pointCloud = np.random.randint(-scale, scale, size=(pointCloudSize, 3)) * (10.0 / scale)
+        pointCloud = pointCloud.astype(np.float32)
+
+        octree = cv.Octree_createWithResolution(resolution, pointCloud)
+
+        restPoint = np.random.randint(-scale, scale, size=(1, 3)) * (10.0 / scale)
+        restPoint = [restPoint[0, 0], restPoint[0, 1], restPoint[0, 2]]
+
+        self.assertTrue(octree.isPointInBound(restPoint))
+        self.assertFalse(octree.deletePoint(restPoint))
+        self.assertTrue(octree.insertPoint(restPoint))
+        self.assertTrue(octree.deletePoint(restPoint))
+
+if __name__ == '__main__':
+    NewOpenCVTests.bootstrap()