TSDF.valid_points test fails on ARM64

[asmorkalov]

System information (version)

• OpenCV => 4.5.1-pre ( contrib master: 768ad92 )
• Operating System / Platform => Ubuntu 20.04, arm64-v8a
• Compiler => GCC 9.3

Hardware:

--   CPU/HW features:
--     Baseline:                    NEON FP16

Detailed description

[ RUN      ] TSDF.valid_points
/home/opencv-cn/slave/workspace/experimental/contrib-ubuntu-20.04-arm64@2/opencv_contrib/modules/rgbd/test/test_tsdf.cpp:470: Failure
Expected: (0.5 - percentValidity) < (0.3), actual: nan vs 0.3
[  FAILED  ] TSDF.valid_points (33 ms)

Steps to reproduce

Issue submission checklist

• I report the issue, it's not a question
• I checked the problem with documentation, FAQ, open issues,
  answers.opencv.org, Stack Overflow, etc and have not found solution
• I updated to latest OpenCV version and the issue is still there
• There is reproducer code and related data files: videos, images, onnx, etc

[tomoaki0705]

Hi. I hit this issue.
I can confirm that if we disable the universal intrinsic, this test passes.
This mean that the cause of this failure exists somewhere in here

The nan comes from here

opencv_contrib/modules/rgbd/test/test_tsdf.cpp

Line 444 in 10bfd2d

anfas = counterOfValid(points);

where points are totally 0, so anfas results as 0.
The points is filled with +infinity which are totally replaced to 0 in patchNaNs above

opencv_contrib/modules/rgbd/test/test_tsdf.cpp

Line 443 in 10bfd2d

patchNaNs(points);

For quick fix, we can disable the universal intrinsic by modifying this line to

#if USE_INTRINSICS && 0

opencv_contrib/modules/rgbd/src/tsdf.cpp

Line 361 in 10bfd2d

#if USE_INTRINSICS