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_volume.py

@@ -0,0 +1,123 @@
+import numpy as np
+import cv2 as cv
+
+from tests_common import NewOpenCVTests
+
+class volume_test(NewOpenCVTests):
+    def test_VolumeDefault(self):
+        depthPath = 'cv/rgbd/depth.png'
+        depth = self.get_sample(depthPath, cv.IMREAD_ANYDEPTH).astype(np.float32)
+        if depth.size <= 0:
+            raise Exception('Failed to load depth file: %s' % depthPath)
+
+        Rt = np.eye(4)
+        volume = cv.Volume()
+        volume.integrate(depth, Rt)
+
+        size = (480, 640, 4)
+        points  = np.zeros(size, np.float32)
+        normals = np.zeros(size, np.float32)
+
+        Kraycast = np.array([[525. ,   0. , 319.5],
+                             [  0. , 525. , 239.5],
+                             [  0. ,   0. ,   1. ]])
+
+        volume.raycastEx(Rt, size[0], size[1], Kraycast, points, normals)
+
+        self.assertEqual(points.shape, size)
+        self.assertEqual(points.shape, normals.shape)
+
+        volume.raycast(Rt, points, normals)
+
+        self.assertEqual(points.shape, size)
+        self.assertEqual(points.shape, normals.shape)
+
+    def test_VolumeTSDF(self):
+        depthPath = 'cv/rgbd/depth.png'
+        depth = self.get_sample(depthPath, cv.IMREAD_ANYDEPTH).astype(np.float32)
+        if depth.size <= 0:
+            raise Exception('Failed to load depth file: %s' % depthPath)
+
+        Rt = np.eye(4)
+
+        settings = cv.VolumeSettings(cv.VolumeType_TSDF)
+        volume = cv.Volume(cv.VolumeType_TSDF, settings)
+        volume.integrate(depth, Rt)
+
+        size = (480, 640, 4)
+        points  = np.zeros(size, np.float32)
+        normals = np.zeros(size, np.float32)
+
+        Kraycast = settings.getCameraRaycastIntrinsics()
+        volume.raycastEx(Rt, size[0], size[1], Kraycast, points, normals)
+
+        self.assertEqual(points.shape, size)
+        self.assertEqual(points.shape, normals.shape)
+
+        volume.raycast(Rt, points, normals)
+
+        self.assertEqual(points.shape, size)
+        self.assertEqual(points.shape, normals.shape)
+
+    def test_VolumeHashTSDF(self):
+        depthPath = 'cv/rgbd/depth.png'
+        depth = self.get_sample(depthPath, cv.IMREAD_ANYDEPTH).astype(np.float32)
+        if depth.size <= 0:
+            raise Exception('Failed to load depth file: %s' % depthPath)
+
+        Rt = np.eye(4)
+        settings = cv.VolumeSettings(cv.VolumeType_HashTSDF)
+        volume = cv.Volume(cv.VolumeType_HashTSDF, settings)
+        volume.integrate(depth, Rt)
+
+        size = (480, 640, 4)
+        points  = np.zeros(size, np.float32)
+        normals = np.zeros(size, np.float32)
+
+        Kraycast = settings.getCameraRaycastIntrinsics()
+        volume.raycastEx(Rt, size[0], size[1], Kraycast, points, normals)
+
+        self.assertEqual(points.shape, size)
+        self.assertEqual(points.shape, normals.shape)
+
+        volume.raycast(Rt, points, normals)
+
+        self.assertEqual(points.shape, size)
+        self.assertEqual(points.shape, normals.shape)
+
+    def test_VolumeColorTSDF(self):
+        depthPath = 'cv/rgbd/depth.png'
+        rgbPath = 'cv/rgbd/rgb.png'
+        depth = self.get_sample(depthPath, cv.IMREAD_ANYDEPTH).astype(np.float32)
+        rgb = self.get_sample(rgbPath, cv.IMREAD_ANYCOLOR).astype(np.float32)
+
+        if depth.size <= 0:
+            raise Exception('Failed to load depth file: %s' % depthPath)
+        if rgb.size <= 0:
+            raise Exception('Failed to load RGB file: %s' % rgbPath)
+
+        Rt = np.eye(4)
+        settings = cv.VolumeSettings(cv.VolumeType_ColorTSDF)
+        volume = cv.Volume(cv.VolumeType_ColorTSDF, settings)
+        volume.integrateColor(depth, rgb, Rt)
+
+        size = (480, 640, 4)
+        points  = np.zeros(size, np.float32)
+        normals = np.zeros(size, np.float32)
+        colors = np.zeros(size, np.float32)
+
+        Kraycast = settings.getCameraRaycastIntrinsics()
+        volume.raycastExColor(Rt, size[0], size[1], Kraycast, points, normals, colors)
+
+        self.assertEqual(points.shape, size)
+        self.assertEqual(points.shape, normals.shape)
+
+        volume.raycastColor(Rt, points, normals, colors)
+
+        self.assertEqual(points.shape, size)
+        self.assertEqual(points.shape, normals.shape)
+        self.assertEqual(points.shape, colors.shape)
+
+
+if __name__ == '__main__':
+    NewOpenCVTests.bootstrap()