- Fix hanging issue on 2080 Ti
- Fix racing issue

Merge pull request #13803 from thangktran:thangktran/fix-misleading-runtime-assertion-calibrateCamera

objectPoints and imagePoints are not checked whether they're empty and
cause checkVector() to fail, thus result in a wrong error message.

Fixes: https://github.com/opencv/opencv/issues/6002

backport 997b7b18

Due to size limit of shared memory, histogram is built on
the global memory for CV_16UC1 case.

The amount of memory needed for building histogram is:

    65536 * 4byte = 256KB

and shared memory limit is 48KB typically.

Added test cases for CV_16UC1 and various clip limits.
Added perf tests for CV_16UC1 on both CPU and CUDA code.

There was also a bug in CV_8UC1 case when redistributing
"residual" clipped pixels. Adding the test case where clip
limit is 5.0 exposes this bug.