Merge pull request #23098 from savuor:nanMask

finiteMask() and doubles for patchNaNs() #23098

Related to #22826
Connected PR in extra: [#1037@extra](https://github.com/opencv/opencv_extra/pull/1037)

### TODOs:
- [ ] Vectorize `finiteMask()` for 64FC3 and 64FC4

### Changes

This PR:
* adds a new function `finiteMask()`
* extends `patchNaNs()` by CV_64F support
* moves `patchNaNs()` and `finiteMask()` to a separate file

**NOTE:** now the function is called `finiteMask()` as discussed with the OpenCV core team

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake

modules/3d/test/test_odometry.cpp

@@ -16,11 +16,8 @@ void dilateFrame(Mat& image, Mat& depth)
     CV_Assert(depth.type() == CV_32FC1);
     CV_Assert(depth.size() == image.size());
 
-    Mat mask(image.size(), CV_8UC1, Scalar(255));
-    for(int y = 0; y < depth.rows; y++)
-        for(int x = 0; x < depth.cols; x++)
-            if(cvIsNaN(depth.at<float>(y,x)) || depth.at<float>(y,x) > 10 || depth.at<float>(y,x) <= FLT_EPSILON)
-                mask.at<uchar>(y,x) = 0;
+    Mat mask;
+    inRange(depth, FLT_EPSILON, 10, mask);
 
     image.setTo(255, ~mask);
     Mat minImage;
@@ -726,7 +723,8 @@ TEST(RGBD_Odometry_WarpFrame, nansAreMasked)
 
     ASSERT_EQ(0, rgbDiff);
 
-    Mat goodVals = (w.warpedDepth == w.warpedDepth);
+    Mat goodVals;
+    finiteMask(w.warpedDepth, goodVals);
 
     double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, goodVals);
     double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, goodVals);