Add mid-optimization normal filtering to MBT

[SamFlt]

This PR adds face rejection mid optimization for the MBT for the normal tracker. This is necessary, as filtering faces before VVS is not stringent enough: some faces that are close to being rejected before optimization have a strong adverse effect on VVS, leading to divergence. This is due to the fact that as the plane gets closer to being parallel to the camera axis and D gets to 0, the interaction matrix blows up.

This can observed in the Blender MBT tutorial, where turning on normals led to divergence before the fix.

[codecov]

Codecov Report

Attention: Patch coverage is 81.81818% with 4 lines in your changes missing coverage. Please review.

Project coverage is 45.26%. Comparing base (b6350f6) to head (9db7431).
Report is 164 commits behind head on master.

Files with missing lines	Patch %	Lines
...s/tracker/mbt/src/depth/vpMbDepthNormalTracker.cpp	42.85%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1463      +/-   ##
==========================================
- Coverage   45.42%   45.26%   -0.16%     
==========================================
  Files        1110     1121      +11     
  Lines      110525   112151    +1626     
  Branches    18923    19078     +155     
==========================================
+ Hits        50203    50766     +563     
- Misses      60322    61385    +1063     

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[fspindle]

@SamFlt thanks