[GSoC] Update octree methods and create frame for PCC

[starga2er777]

PR for GSoC Point Cloud Compression

Issue for GSoC 2023

• We are updating the Octree method create() by using OctreeKey: Through voxelization, directly calculate the leaf nodes that the point cloud belongs to, and omit the judgment whether the point cloud is in the range when inserted. The index of the child node is calculated by bit operation.
• We are also introducing a new header file pcc.h (Point Cloud Compression) with API framework.
• We added tests for restoring point clouds from an octree.
• Currently, the features related to octree creation and point cloud compression are part of the internal API, which means they are not directly accessible to users. However, our plan for the future is to include only the 'PointCloudCompression' class in the 'opencv2/3d.hpp' header file. This will provide an interface for utilizing the point cloud compression functionality.

Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

• I agree to contribute to the project under Apache 2 License.
• 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

[WanliZhong]

@opencv-alalek @asmorkalov Hi, Why his code will pull opencv_contrib_merge in default CI? Seems like they fork OpenCV and rename the repository to opencv_contrib, the name is conflict.

Should they need to rename their repository name to opencv not opencv_contrib and re-create this PR?

[opencv-alalek]

Why?

May be because main repo is not opencv but opencv_contrib in this PR.

starga2er777 wants to merge 5 commits into opencv:5.x from starga2er777:pcc

[starga2er777](https://github.com/starga2er777) wants to merge 5 commits into [opencv:5.x](https://github.com/opencv/opencv/tree/5.x) from [starga2er777:pcc](https://github.com/starga2er777/opencv_contrib/tree/pcc)

[starga2er777]

Closing this PR due to conflict on repository name.

[starga2er777]

Reopen in: #23985