warpFrame() fixed & covered by tests

[savuor]

This PR contains:

• warpFrame() which is fixed to work the same regardless of depth scale
• tests for warpFrame()
• refactored ICP internals

Connected test data & generation script PR: #985@extra

API note

• The function's signature was changed, ABI check may fail
• CV_16S type support for depth was removed since it's quite exotic and its valid value range is twice smaller than of CV_16U
• Supported RGB types are CV_8UC1, CV_8UC3, CV_8UC4
• Distortion coefficients have been removed from the function's signature.
  The reasons are:
  1. It's not clear if the input depth is distorted with the same coefficients.
  2. The same effect can be reached by applying distort/undistortPoints to input/output data which is more natural.

TODOs:

• get rid of warpFrame() in tests
• get rid of ICP+scale code
• warp image and mask as well as depth
• write proper PR description (at least point at corresponding opencv_extra PR)
• fix all TODOs in code

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

[asmorkalov]

ARM version fails on tests:

[  FAILED  ] 5 tests, listed below:
[  FAILED  ] RGBD_Odometry_Rgbd.algorithmic
[  FAILED  ] RGBD_Odometry_ICP.algorithmic
[  FAILED  ] RGBD_Odometry_RgbdICP.algorithmic
[  FAILED  ] RGBD_Odometry_FastICP.algorithmic
[  FAILED  ] RGBD_Odometry_WarpFrame.compareToGold

[asmorkalov]

I propose to add the formulas to Doxygen description.

[savuor]

See no sense in this: these formulas explain the code, there's no any other sense in them.

[asmorkalov]

👍

[savuor]

@asmorkalov the corresponding PR in extra should be merged too