TSDF Optimization

[DumDereDum]

This PR changes

/----[ WI ]----/

• Reducing memory consumption:
  • Create new type (half)
  • Replace float with new type - TsdfType(int8_t):
    • CPU
    • GPU
    • INTRINSICS
    • HashTSDF
  • Replace int with uchar:
    • CPU
    • GPU
    • INTRINSICS
    • HashTSDF
• TSDF optimization:
  • Speeded up the calculation of the pixNorm variable by incrementing this variable on the fixed number
• HashTSDF optimization:
  • Vectorized interpolate function
  • Reduced the call to the at() function, acceleration of the getNormalVoxel() function by 33%, and the algorithm by 10%
• Tests:
  • Create new struct "Settings" for performance test (perf_rgbd)
• Other minor fixes

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 OpenCV (BSD) License.
• To the best of my knowledge, the proposed patch is not based on a code under GPL or other license that is incompatible with OpenCV
• The PR is proposed to proper branch
• There is reference to 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

[savuor]

👍

[alalek]

Looks like there are failed tests in Debug build: #2675