[sfm] make sure we give other chances to candidates

[servantftechnicolor]

In the incremental SFM, the reconstruction select iteratively some candidates for resection. It may happens that this selection is not good and the resection fail. In this case, the frame is definitely discarded. This PR gives them other chances to shine !

• If a resection fail, the frame id is not removed from the set of available frames.
• To make sure we don't retry at each iteration those frames, we estimate at each iteration which frames are affected by the changes on the reconstruction in the current iteration. For all frames which have been newly inserted into the reconstruction, trigger the connected frames (through tracks) for the next iteration.