The test compiles differntly if the configuration is Release or Debug. In Debug mode, threads are required to finish their task in 15 seconds instead of 1.

Closes 2585

Revise direction test in SampleConsensusModelParallelLine/RANSAC to be consistent with set tolerance.

- Include directories are now added for opt dependencies
- Make module dependencies propagate to the corresponding tests

Additionaly rename test_sample_consensus_line_model to reflect the fact
that now it tests multiple line models.

Avoid re-computation of normals every time the test is run and remove
dependency on features and kdtree modules.

Google test macros a supposed to have expected value as the first
parameter and actual value as the second.