Merge pull request #27821 from savuor:rv/fix_nan_depth_scale

Fixed wrong NaN handling when scaling depth for OdometryFrame #27821

### Pull Request Readiness Checklist

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- [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/src/rgbd/odometry_functions.cpp

@@ -47,14 +47,26 @@ static UMat prepareScaledDepth(OdometryFrame& frame)
     UMat depth;
     frame.getDepth(depth);
     CV_Assert(!depth.empty());
+    bool isFloat = (depth.type() == CV_32FC1 || depth.type() == CV_64FC1);
 
     // Odometry works well with depth values in range [0, 10)
     // If it's bigger, let's scale it down by 5000, a typical depth factor
-    double maxv;
-    cv::minMaxLoc(depth, nullptr, &maxv);
     UMat depthFlt;
-    depth.convertTo(depthFlt, CV_32FC1, maxv > 10 ? (1.f / 5000.f) : 1.f);
-    patchNaNs(depthFlt, 0);
+    if (isFloat)
+    {
+        depth.convertTo(depthFlt, CV_32FC1);
+        patchNaNs(depthFlt, 0);
+    }
+
+    double maxv;
+    cv::minMaxLoc(isFloat ? depthFlt : depth, nullptr, &maxv);
+
+    if (!isFloat || maxv > 10)
+    {
+        depth.convertTo(depthFlt, CV_32FC1, maxv > 10 ? (1.f / 5000.f) : 1.f);
+        patchNaNs(depthFlt, 0);
+    }
+
     frame.impl->scaledDepth = depthFlt;
 
     return depthFlt;