added parameters to loopClosureFalko constructor

src/loop_closure_falko.cpp

@@ -9,11 +9,23 @@
 
 namespace laserscanutils{
 
+    //CONSTRUCTOR
     template <typename Extractor, typename Matcher>
     loopClosureFalko<Extractor, Matcher>::loopClosureFalko(){
-
+        // FALKO Extractor Parameters
+        setMinExtractionRange(0.1);
+        setMaxExtractionRange(25);
+        enableSubbeam(true);
+        setNMSRadius(0.1);
+        setNeighB(0.01);
+        setBRatio(4);
+        setGridSectors(16);
+
+        // Matcher Extractor Parameters
+        matcher.setDistanceThreshold(0.1);
     }
 
+    // DESTRUCTOR
     template <typename Extractor, typename Matcher>
     loopClosureFalko<Extractor, Matcher>::~loopClosureFalko(){}
 

src/loop_closure_falko.h

@@ -40,7 +40,7 @@ typedef falkolib::NNMatcher<falkolib::FALKO> NNMatcher;
    /** \brief A base class for loop closure using falko library
    **/
 template <typename Extractor, typename Matcher>
-class loopClosureFalko{
+class loopClosureFalko : public falkolib::FALKOExtractor{
 private:
 
 public: