diff --git a/modules/3d/include/opencv2/3d/odometry.hpp b/modules/3d/include/opencv2/3d/odometry.hpp
index ec8c0ec3b4..dbeba411db 100644
--- a/modules/3d/include/opencv2/3d/odometry.hpp
+++ b/modules/3d/include/opencv2/3d/odometry.hpp
@@ -68,8 +68,11 @@ public:
     CV_WRAP bool compute(InputArray srcDepthFrame, InputArray dstDepthFrame, OutputArray Rt) const;
     CV_WRAP bool compute(InputArray srcDepthFrame, InputArray srcRGBFrame, InputArray dstDepthFrame, InputArray dstRGBFrame, OutputArray Rt) const;
 
-    //TODO: document it
-    //requires frame size, initialized at prepareFrame stage()
+    /**
+     * @brief Get the normals computer object used for normals calculation (if presented).
+     * The normals computer is generated at first need during prepareFrame when normals are required for the ICP algorithm
+     * but not presented by a user. Re-generated each time the related settings change or a new frame arrives with the different size.
+     */
     Ptr<RgbdNormals> getNormalsComputer() const;
 
     class Impl;
diff --git a/modules/3d/include/opencv2/3d/odometry_frame.hpp b/modules/3d/include/opencv2/3d/odometry_frame.hpp
index c71f1dda83..f0c376c69c 100644
--- a/modules/3d/include/opencv2/3d/odometry_frame.hpp
+++ b/modules/3d/include/opencv2/3d/odometry_frame.hpp
@@ -26,25 +26,79 @@ enum OdometryFramePyramidType
     N_PYRAMIDS
 };
 
+/**
+ * @brief An object that keeps per-frame data for Odometry algorithms from user-provided images to algorithm-specific precalculated data.
+ * When not empty, it contains a depth image, a mask of valid pixels and a set of pyramids generated from that data.
+ * An RGB/Gray image and normals are optional.
+ * OdometryFrame is made to be used together with Odometry class to reuse precalculated data between Rt data calculations.
+ * A proper way to do that is to call Odometry::prepareFrames() on prev and next frames and then pass them to Odometry::compute() method.
+ */
 class CV_EXPORTS_W OdometryFrame
 {
 public:
-    //TODO: add to docs: check image channels, if 3 or 4 then do cvtColor(BGR(A)2GRAY)
+    /**
+     * @brief Construct a new OdometryFrame object. All non-empty images should have the same size.
+     * 
+     * @param image An RGB or grayscale image (or noArray() if it's not required for used ICP algorithm).
+     * Should have 3 or 4 uchar channels if it's RGB image or 1 uchar channel if it's grayscale. If it's RGB then it's converted to grayscale
+     * image automatically.
+     * @param depth A depth image, should have 1 channel
+     * @param mask A user-provided mask of valid pixels, should have 1 uchar channel
+     * @param normals A user-provided normals to the depth surface, should have 4 float channels
+     */
     OdometryFrame(InputArray image = noArray(), InputArray depth = noArray(), InputArray mask = noArray(), InputArray normals = noArray());
     ~OdometryFrame() {};
 
+    /**
+     * @brief Get the original user-provided RGB/Gray image
+     * 
+     * @param image Output image
+     */
     void getImage(OutputArray image) const;
+    /**
+     * @brief Get the gray image generated from the user-provided RGB/Gray image
+     * 
+     * @param image Output image
+     */
     void getGrayImage(OutputArray image) const;
+    /**
+     * @brief Get the original user-provided depth image
+     * 
+     * @param depth Output image
+     */
     void getDepth(OutputArray depth) const;
+    /**
+     * @brief Get the depth image generated from the user-provided one after conversion, rescale or filtering for ICP algorithm needs
+     * 
+     * @param depth Output image
+     */
     void getScaledDepth(OutputArray depth) const;
+    /**
+     * @brief Get the valid pixels mask generated for the ICP calculations intersected with the user-provided mask
+     * 
+     * @param mask Output image
+     */
     void getMask(OutputArray mask) const;
+    /**
+     * @brief Get the normals image either generated for the ICP calculations or user-provided
+     * 
+     * @param normals Output image
+     */
     void getNormals(OutputArray normals) const;
 
-    //TODO: add docs
-    // returns amt of levels in pyramids (all of them should have the same amt of levels) or 0 if no pyramids were prepared yet
+    /**
+     * @brief Get the amount of levels in pyramids (all of them if not empty should have the same number of levels)
+     * or 0 if no pyramids were prepared yet
+     */
     size_t getPyramidLevels() const;
-    //TODO: add docs
-    // returns empty img if no data in the pyramid or in the pyramid's level
+    /**
+     * @brief Get the image generated for the ICP calculations from one of the pyramids specified by pyrType. Returns empty image if
+     * the pyramid is empty or there's no such pyramid level
+     * 
+     * @param img Output image
+     * @param pyrType Type of pyramid
+     * @param level Level in the pyramid
+     */
     void getPyramidAt(OutputArray img, OdometryFramePyramidType pyrType, size_t level) const;
 
     class Impl;