Fix mesh loading for texture coordinates and face indices #25382
### This PR changes
* Texture coordinates were stored incorrectly (3-channel array is read as if there were 2 channels), fixed
* Faces were pushed back to the output array instead of indexed writing which produced a lot of empty faces, fixed
* A set of ground truth tests were added to cover these issues
* `std::vector<cv::Mat>` support added for `saveMesh()` which is required for Python bindings
* More command line args were added to rasterization test data generator
### 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
OBJ and PLY loaders extention to support texture coordinates and difused colors #25221
### This PR changes
* Texture coordinates support added to `loadMesh()` and `saveMesh()`
* `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce
- This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces
- Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature
- At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file
* PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue`
* `std::vector<cv::Vec3i>` supported as an index array type
* Colors are loaded as [0, 1] floats instead of uchars
- Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy
- Performing uchar conversion does not always makes sense and can be performed by a user if they needs it
* PLY loading fixed: wrong offset ruined x coordinate
* Python tests added for `loadPointCloud` and `loadMesh`
### 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
PLY mesh support #24961
**Warning:** The PR changes exising API.
Fixes#24960
Connected PR: [#1145@extra](https://github.com/opencv/opencv_extra/pull/1145)
### Changes
* Adds faces loading from and saving to PLY files
* Fixes incorrect PLY loading (see issue)
* Adds per-vertex color loading / saving
### 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
GSoC: Modified PLY reader to support color attribute read/write #23805
* Modified PLY reader to support color attribute read/write
* Fix bugs & Modified OBJ reader for color IO
* Replace with correct test file
* Fix I/O of property [w] in OBJ files
### Pull Request Readiness Checklist
**Merged with https://github.com/opencv/opencv_extra/pull/1075**
[Issue for GSoC 2023](https://github.com/opencv/opencv/issues/23624)
The ply loader in 3D module doesn't support color attribute reading. I modified that to support color attribute reading & writing for the color attribute compression as described in proposal.
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
GSoC module to save and load point cloud
* Add functionality to read point cloud data from files
* address issues found on review, add tests for mesh, refactor
* enable fail-safe execution and empty arrays as output
* Some improvements for point cloud io module
Co-authored-by: Julie Bareeva <julia.bareeva@xperience.ai>
