* corrected scope of CV_Error()

* removed the return statement

to create a mesh from arbitrary sources

original commit: https://github.com/opencv/opencv/commit/07ef08e966d3fb44eafa270a6e8a613777406086

* new algorithm Rapid Frequency Selective Reconstruction (FSR) added

* fix compiler warning

* applied changes suggested in alalek's review

* fix trailing whitespace

* xphoto: update inpaint() test

* fix pre-processing of error mask

* xphoto: move inpainting FSR algorithm into a separate file

* xphoto: cleanup inpaining documentation

* xphoto: inpainting fsr - avoid uninitialized values

Fix wrong definition of viz::Color::navy()
original commit: https://github.com/opencv/opencv/commit/e65b51ca3c7995d8837b29e556a77db85ef07f05

Build DoG Pyramid if useProvideKeypoints is false

The buildDoGPyramid operation need not be performed unconditionally. In cases where it is not needed, both memory and speed performance can be improved

- instead of validation checks

Fix memory corruption in RgbdPlane

* Fix memory corruption

* Use divUp instead of explicit rounding up integer division

* rgbd: add test

Fix incorrect pattern when sizeY is odd

DynamicFusion Implementation

* Add new nodes from points

* Addition of new node in the field

* Warp nodes demo

* Add newline before {

* Remove 3rd party flann dependency

* Regularisation Heirarchy

* Correct node radius

* Change default growth rate

* New node position = centroid of the neighbourhood

* Enlarge nodes while paused

* Dynafu TSDF

* TSDF demo

* Avoid double calc and adjust initial tsdf weight

* Fix bug that caused some voxels to disappear

* getNodePos helper

* Remove USE_INTRINSIC check

* Correct RT avg calculation and remove redundant knn calc

* Slight perf improvements

* Use LinearIndex

* Debug calculations

* set all nodes' RT

* Various bug fixes

* Separate camera and warpfield

* Add dynafu documentation

* Adhere to coding style

* Add dynafu unit test

* update demo

* Merge pull request #2133 from savuor:kinfu_truncate

KinectFusion: several updates (#2133)

* truncateThreshold added

* demo updated for RealSense

* first Kinect2, then RealSense

* more distance-based parameters

* Remove trailing whitespaces

* Replace bool vector with array

* create findNeighbours in WarpField

* Maintain nodesPos matrix in WarpField

* Fix warnings on Windows build

* Remove cameraPose from WarpField

* Use AutoBuffer

* Marching Cubes

* Fix MC

* Split mesh vertices & edges

* Change Mat types in MC

* OpenGL rendering

* Check for HAVE_OPENGL

* Error handling in case HAVE_OPENGL is not defined

* Replace Mat_ with std::vector inside marchCubes

* Parallelise marching cubes

* Fix warpfield and estimate depth inside DynaFuImpl::updateT()

* Linearise depth and use points/normals from MC

* Don't test dynafu without OpenGL support

* Analytical calculation of Jacobian matrices

* Add details about rotation and differentiate graph terms in J_r

* Use derivative of T^-1 from the tutorial

* Remove L2 norm from reg term

* Use chain rule to differentiate data term

* Markdown

* Fix markdown

* Replace MD file by HTML

* Change the data term expression

* Calculate J_d using vector identities

* Rasterize vertex and normals

* Apply warpfield before rendering

* Add CV_UNUSED for normImage to fix warning

* Render float image instead of uint8

* Implement ICP data term and other changes:
1. add option to applyWarp to normals
2. add option to `fetchPointNormals` to return points in voxel coordinates
3. Fix: Use voxel coordinates to update WarpField

* Fix non-OpenGL build

* Intialise newly discovered node transforms with DQB

* Fix data term

* Change data term normal and add kinfu-like distance/angle checks

* Implement regularisation

* Fix warnings

* Credit authors of DQB and table for MC

* cast size_t to int to supress warning

* Correct regularisation and add normal equation set up

* Delete html

* Dynafu unit test

VTK_MAJOR_VERSION not found unless header is included
original commit: https://github.com/opencv/opencv/commit/3b070517ad1f602508b1278a5e149e70c690ffb9

original commit: https://github.com/opencv/opencv/commit/6efdfee3f00c0df8f4ab389da91d1d6d81375f53

[cudalegacy] Possibly fix assertion to use something more meaningful `totalDetections <= totalMaxDetections`

dereferencing type-punned pointer will break strict-aliasing rules