Update peilin.cpp

The Fast Bilateral Filter (#1819)

PR is created by: berak <px1704@web.de>
based on work https://github.com/opencv/opencv_contrib/pull/1317

* fbs_filter v1.0 has been contributed

* use boost unordered_map

* add brief description for fbs_filter

* fix format

* fix channels bug

* modify doc for fbs_filter

* check c++ 11

* asDiagonal -> diagonal

* rosolve warning

* fix eigen3 dependency

* Eigen/Core

* test HEAV_EIGEN

* setZero bug

* unordered_map test

* fix macro bug

* fix boost not found

* fix eigen macro bug

* fix eigen macro bug

* fix eigen macro bug

* fix eigen macro bug

*  add test file

*  fix test macro

*  fix test macro

*   add test

*   add test

* add sample colorize

* fix macro

*  fix colorize.cpp

*  fix colorize.cpp

*  fix colorize.cpp

*  fix colorize.cpp

* add fbs filter demo

* add fbs filter demo

* add fbs filter demo

* use fgsfilter for guess

* add parameter num_iter and max_tol

* add a option for colorize sample

* add  bibtex

* add  bibtex

* fix a colorize demo bug

* size optimize

* taking over the fast bilateral solver

* taking over the fast bilateral solver

* try to fix test_fbs_filter

* missed a bib bracket

  * fix test failure of cudaimgproc convert color bgr2lab series

original commit: https://github.com/opencv/opencv/commit/944710de4e9f8149a4ddb6cee908f9004d7f8702

[moved from opencv] CUDA/BgSegm: fix the threshold of MOG2.Update test when detectShadow=true (opencv/opencv#12762)

original commit: https://github.com/opencv/opencv/commit/c4d434fd6f42edd955429990354191200897204d

  * if the src has odd number of height, access error happens
  * it could happen on width, too
  * check both dst and src range in both width and height

original commit: https://github.com/opencv/opencv/commit/7294ae0f17282d52f5734d4cd45482f6c40b4b28

  * avoid race condition

original commit: https://github.com/opencv/opencv/commit/fa8684b5c8267f1c0c89f6279b9b0ff87500480c

* KinFu demo: idle mode added

* undistort added

* KinFu demo: depth recorder added

* TSDFVolume gets voxelSize, voxelSizeInv, truncDist members; decorative fixes

* TSDFVolumeGPU::integrate(): host code compiles

* TSDFVolume: truncDist fixed

* TSDFVolume::integrate(): initial OCL version is done

* TSDFVolume::integrate(): OCL: minor fixes

* kinfu: small fixes

* TSDFVolume::raycast(): initial GPU version is done

* USE_INTRINSICS directive for centralized enable/disable opt. code

* TSDF Volume supports 3 different sizes/resolutions on each dimension

* TSDFVolume: serviceMembers moved to parent class

* TSDFVolumeGPU: mem order changed, gave perf boost 4x

* Frame: fixed UMat as InputArray; TSDF: comments, TODOs, minor fixes

* Frame::getPointsNormals(); minors

* FrameGPU: initial version (not working)

* minor

* FrameGPU: several fixes

* added OCL "fast" options

* ICP OCL: initial slow version is done (host-side reduce)

* ICP OCL: reduce is done, buggy

* KinFu Frame: more args fixes

* ICP OCL: small fixes to kernel

* ICP OCL reduce works

* OCL code refactored

* ICP OCL: less allocations, better speed

* ICP OCL: pose matrix made arg

* Render OCL: small fix

* Demo: using UMats everywhere

* TSDF integrate OCL: put const arg into kernel arg

* Platform parameter partially removed, implementation choice is done through OCL availability check

* Frame and FrameGenerator removed (other code is in following commits)

* CPU render: 4b instead of 3b

* ICP: no Frame class use, one class for both CPU and GPU code

* demo: fix for UMat chain

* TSDF: no Frame or FrameGenerator use

* KinFu: no Frame or FrameGenerator, parametrized for Mat or UMat based on OCL availability

* KinFu::setParams() removed since it has no effect anyway

* TSDF::raycast OCL: fixed normals rendering

* ScopeTime -> CV_TRACE

* 3-dims resolution and size passed to API

* fixed unexpected fails of ICP OCL

* voxels made cubic again

* args fixed a little

* fixed volSize calculation

* Tests: inequal, OCL, unified scene test function

* kinfu_frame: input types fixed

* fixed for Intel HD Graphics

* KinFu demo: setUseOptimized instead of setUseOpenCL

* tsdf: data types fixed

* TSDF OCL: fetch normals implemented

* roundDownPow2 -> utils.hpp

* TSDF OCL: fetch points+normals implemented

* TSDF OCL: NoSize, other fixes for kernel args

* Frame OCL: HAVE_OPENCL, NoSize, other kernel args fixed

* ICP OCL: HAVE_OPENCL, NoSize and other kernel fixes

* KinFu demo fixes: volume size and too long delay

* whitespace fix

* TSDF: allowed sizes not divisable by 32

* TSDF: fixed type traits; added optimization TODOs

* KinFu made non-free

* minor fixes: cast and whitespace

* fixed FastICP test

* warnings fixed: implicit type conversions

* OCL kernels: local args made through KernelArg::Local(lsz) call

* MSVC warnings fixed

* a workaround for broken OCV's bilateral

* KinFu tests made a bit faster

* build fixed until 3.4 isn't merged to master

* warnings fixed, test time shortened

the latter allows explicitly specifying channel nr/ format. Also we no
longer have to manually manage an extra rendertarget any more.

original commit: https://github.com/opencv/opencv/commit/28e55dc5f379c866e3cdba1414501c516ae53265