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_odometry.py

@@ -0,0 +1,88 @@
+#!/usr/bin/env python
+
+import numpy as np
+import cv2 as cv
+
+from tests_common import NewOpenCVTests
+
+class odometry_test(NewOpenCVTests):
+    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)
+        radian = np.radians(1)
+        Rt_warp = np.array(
+            [[np.cos(radian), -np.sin(radian), 0],
+            [np.sin(radian), np.cos(radian), 0],
+            [0, 0, 1]], dtype=np.float32
+        )
+        Rt_curr = np.array(
+            [[np.cos(radian), -np.sin(radian), 0, 0],
+            [np.sin(radian), np.cos(radian), 0, 0],
+            [0, 0, 1, 0],
+            [0, 0, 0, 1]], dtype=np.float32
+        )
+        Rt_res = np.zeros((4, 4))
+
+        if otype is not None:
+            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))
+
+        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:
+            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
+        self.assertLessEqual(res, eps)
+        self.assertTrue(isCorrect)
+
+    def test_OdometryDefault(self):
+        self.commonOdometryTest(False, None, None, False)
+
+    def test_OdometryDefaultFrame(self):
+        self.commonOdometryTest(False, None, None, True)
+
+    def test_OdometryDepth(self):
+        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.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.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()