Merge pull request #2878 from DumDereDum:colored_kinfu

Colored Kinect Fusion

* create dummy unworked classes

* dummy class works

* colored kinfu demo minor changes

* add simple rgb reader and writer

* add rgb info to tsdf

* add new raycast

* replace TsdfVoxel with RGBTsdfVoxel; integrate done

* add colors info to raycast

* just render colors

* color processing fix

* intergrate color fix

* add simple shift; minor fixes

* add cv_errors for not implemented functions

* minor fixes

* made calibration

* makeColoredFrameFromDepth works

* remove comments

* makeColoredFrameFromDepth fix

* RGBSoure remove extra code

* RGBSoure remove extra code 1

* simple fix of bug with rgb size

* minor fix

* docs fix

* docs fix

* unused parameter fix

* warnings fix

* fix tsdf errors; rgbd_perf warnings

* fix errors

* minor fix

* debug print

* debug print 2

* debug print 3

* invoker fix

* minor fix

* remove debug cout

* add simple tests

* docs fix

* warnings fix

* minor fix

* function warning fix

* add vectorized code

* minor fixes

* minor speed up

* minor fixes; renaming

* new minor fixes

* bug fix

* minor fix

* test update

* extra code removed

* bugfix; warning fix

* simple interpolation

* minor fix

* color work minor fix

* vectorized interpolation

* minor fix

modules/rgbd/include/opencv2/rgbd.hpp

@@ -15,6 +15,7 @@
 #include "opencv2/rgbd/dynafu.hpp"
 #include "opencv2/rgbd/large_kinfu.hpp"
 #include "opencv2/rgbd/detail/pose_graph.hpp"
+#include "opencv2/rgbd/colored_kinfu.hpp"
 
 
 /** @defgroup rgbd RGB-Depth Processing