Merge pull request #2606 from DumDereDum:tsdf_fix_and_test

TSDF fixes and tests

* getMat using fix

* min/max fix

* create WeightType

* create normals test

* bug fix

* complete normals test

* fix makeVolume and rewrite tests

* minor fixes

* add new normal tests

* replace operator() on lambda expressions

* make a valid points test

* minor fixes

* getNormalVoxel fix in tsdf and hashTsdf

* create renderPointsNormals

* replace Affine3f with Matx44f oin make volume

* minor fixes

* minor fix

* tmp

* create function interpolateVoxel for hashTSDF

* tmp

* right interpolation for HashTSDF

* rewrite intrinsics normalize

* minor fix

* rewrite GPU normalize

* start to write perf tests

* make Volume fix

* GPU normalize fix

* minor fix

* create perf test for raycast

* fix LNK2019 problem in perf test

* made all perf tests

* replace all Affine3f with Matx44f

* replace Point3i with Vec3i

* minor fix

* minor fix

* add CV_EXPORT_W

* build fix 1

* build fix 2

* build fix 3

* warning fix

* build test

* win test

* tests without HashTSDF

* create noparallel normals checking

* test without fetch

* test without fetch points normals

* add end line

* revert rotation() in hash_tsdf

* fix matrix multiplication order

* fetch points normals invoker fix

* warning fix

* warning fix

* Docs fix

* Hash push normals fix

* replace operator() with lambda in PushNormals

* warning fix

* comments fix

Co-authored-by: arsaratovtsev <artem.saratovtsev@intel.com>

modules/rgbd/perf/perf_main.cpp

@@ -0,0 +1,6 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+#include "perf_precomp.hpp"
+
+CV_PERF_TEST_MAIN(rgbd)