changed memory allocation in matcher (#27)

svo/include/svo/matcher.h

@@ -91,8 +91,8 @@ public:
     {}
   } options_;
 
-  uint8_t* patch_;
-  uint8_t* patch_with_border_;
+  uint8_t patch_[patch_size_*patch_size_] __attribute__ ((aligned (16)));
+  uint8_t patch_with_border_[(patch_size_+2)*(patch_size_+2)] __attribute__ ((aligned (16)));
   Matrix2d A_cur_ref_;          //!< affine warp matrix
   Vector2d epi_dir_;
   double epi_length_;           //!< length of epipolar line segment in pixels (only used for epipolar search)
@@ -102,8 +102,8 @@ public:
   Feature* ref_ftr_;
   Vector2d px_cur_;
 
-  Matcher();
-  ~Matcher();
+  Matcher() = default;
+  ~Matcher() = default;
 
   /// Find a match by directly applying subpix refinement.
   /// IMPORTANT! This function assumes that px_cur is already set to an estimate that is within ~2-3 pixel of the final result!