DynamicFusion cost function reworked

[savuor]

WIP

DynaFu is being reworked to support true Dual Quaternion Blending as in the article.

TODOs:

• [ ] Write real TODOs and PR description
• [x] Use sparse solver from rgbd module instead of the one in the code
• [ ] Replace internal dual quaternions by the ones from OpenCV-next
• [ ] Transform debug code into tests
• [ ] Fix everything marked as TODO URGENT before debugging
• [ ] Debug the code
• [ ] Strip any extra options
• [ ] Document it properly

Pull Request Readiness Checklist

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

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