ensuring SSD reduction and some more eleanup

	modified:   cvt/vision/KLTPatch.h
reducing patchsize

	modified:   cvt/vision/slam/stereo/DescriptorDatabase.h
KLT with check of alignment result

	modified:   cvt/vision/slam/stereo/StereoSLAM.cpp
	modified:   cvt/vision/slam/stereo/StereoSLAM.h