matching number threshold added

src/corner_falko_2d.cpp

@@ -70,7 +70,7 @@ void CornerFalko2d::findLoopClosure(falkolib::LaserScan scan){
 
         int NewMatchingNumber = match(keypointSets[i], keypointSet2, assoNN);
 
-        if (NewMatchingNumber > matchingNumber ) {
+        if (NewMatchingNumber > matchingNumber && NewMatchingNumber>keypointsNumberTh) {
             matchingNumber=NewMatchingNumber;
             matchingPosition=i;
         }

src/corner_falko_2d.h

@@ -72,11 +72,17 @@ public:
      **/
     void findLoopClosure(falkolib::LaserScan scan);
 
+    /** @brief set euclidean distance threshold for keypoints distance measurements*/
+    void setKeypointsNumberTh(int _th) {
+        keypointsNumberTh = _th;
+    }
+
     std::vector<std::vector<falkolib::FALKO>> keypointSets;
     std::vector<falkolib::FALKO> lastKeypointSet;
     std::vector<std::vector<falkolib::BSC>> descriptorSets;
     std::vector<falkolib::BSC>lastDescriptorSet;
 
+
     int matchingNumber;
 
     int scanNumber=0;
@@ -84,6 +90,8 @@ public:
     int scansExtracted=0;
 
     int matchingPosition=-1;
+
+    int keypointsNumberTh=2;
 };
 
 } /* namespace laserscanutils */