diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index fee4770bdba203fb9a05226d54c9de23e30e96ce..71ab644dfb0e7f3c29e65558446aff7a62847a5f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -67,7 +67,6 @@ SET(HDRS
IF(falkolib_FOUND)
SET(HDRS ${HDRS}
- corner_falko_2d.h
loop_closure_falko.h
scene_falko.h
match_loop_closure_scene.h)
@@ -96,10 +95,6 @@ SET(SRCS
icp.cpp)
ENDIF(csm_FOUND)
- IF(falkolib_FOUND)
- SET(SRCS ${SRCS}
- corner_falko_2d.cpp)
- ENDIF(falkolib_FOUND)
diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
deleted file mode 100644
index edce4b95f518ede523c5a6278a4d5c78a1f8683f..0000000000000000000000000000000000000000
--- a/src/corner_falko_2d.cpp
+++ /dev/null
@@ -1,121 +0,0 @@
-/**
- * \file corner_falko_2d.cpp
- *
- * Created on: Jan 26, 2021
- * \author: spujol
- */
-
-#include "corner_falko_2d.h"
-
-namespace laserscanutils {
-
-CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber,
- bool _useKeypointRadius, double _radius)
- : BSCExtractor(_circularSectorNumber, _radialRingNumber, _useKeypointRadius,
- _radius) {
- // FALKO Extractor Parameters
- setMinExtractionRange(0.1);
- setMaxExtractionRange(25);
- enableSubbeam(true);
- setNMSRadius(0.1);
- setNeighB(0.01);
- setBRatio(4);
- setGridSectors(16);
-
- // Matcher Extractor Parameters
- setDistanceThreshold(0.1);
-}
-
-CornerFalko2d::~CornerFalko2d() {}
-
-void CornerFalko2d::AddNewReferenceScene(falkolib::LaserScan scanFALKO) {
-
- // Extract keypoints
- lastKeypointSet.clear();
- extract(scanFALKO, lastKeypointSet);
-
- // Compute descriptors
- lastDescriptorSet.clear();
- compute(scanFALKO, lastKeypointSet, lastDescriptorSet);
-
- keypointSets.push_back(lastKeypointSet);
- descriptorSets.push_back(lastDescriptorSet);
-
- scansExtracted = scansExtracted + 1;
-}
-
-void CornerFalko2d::findLoopClosure(LaserScan scan,
- LaserScanParams scanParams) {
-
- falkolib::LaserScan scanFALKO = convert2LaserScanFALKO(scan, scanParams);
-
- // Compute descriptors
- std::vector<falkolib::FALKO> keypointSet2;
- extract(scanFALKO, keypointSet2);
-
- // Compute descriptors
- std::vector<falkolib::BSC> descriptorSet2;
- compute(scanFALKO, keypointSet2, descriptorSet2);
-
- // Matching
- int rows = keypointSets.size();
-
- numberKeypointsMatch = 0;
- numberSceneMatch = 0;
- matchingPosition = -1;
- for (int i = 0; i < rows; i++) {
- std::vector<std::pair<int, int>> assoNN;
-
- int NewMatchingNumber = match(keypointSets[i], keypointSet2, assoNN);
-
- if (NewMatchingNumber > numberKeypointsMatch &&
- NewMatchingNumber > keypointsNumberTh) {
- numberKeypointsMatch = NewMatchingNumber;
- matchingPosition = i;
- numberSceneMatch = numberSceneMatch + 1;
- }
- }
- if (numberSceneMatch > 1) {
- numberSceneMatch = 0;
- matchingPosition = -1;
- }
-}
-
-falkolib::LaserScan
-CornerFalko2d::convert2LaserScanFALKO(LaserScan scan,
- LaserScanParams scanParams) {
-
- falkolib::LaserScan scanFALKO(scanParams.angle_min_, scanParams.angle_max_,
- scan.ranges_raw_.size());
- std::vector<double> doubleRanges(scan.ranges_raw_.begin(),
- scan.ranges_raw_.end());
- scanFALKO.fromRanges(doubleRanges);
- return scanFALKO;
-}
-
-int CornerFalko2d::evaluateNewReferenceScene(LaserScan scan,
- LaserScanParams scanParams,
- int scanInterval) {
-
- scanNumber = scanNumber + 1;
-
- int NewSceneAdded = 0;
-
- if (scanNumber % scanInterval == 0 || scanNumber == 1) {
-
- findLoopClosure(scan, scanParams);
-
- if (numberKeypointsMatch < refSceneAddingTh) {
-
- falkolib::LaserScan scanFALKO = convert2LaserScanFALKO(scan, scanParams);
-
- AddNewReferenceScene(scanFALKO);
-
- NewSceneAdded = 1;
- }
- }
-
- return NewSceneAdded;
-}
-
-} // laserscanutils namespace
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
deleted file mode 100644
index 89513e679a909bf1fbd75726e608aae446b3fa6f..0000000000000000000000000000000000000000
--- a/src/corner_falko_2d.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/**
- * \file corner_falko_2d.h
- *
- * Created on: Jan 26, 2021
- * \author: spujol
- */
-
-#ifndef CORNER_FALKO_2D_H_
-#define CORNER_FALKO_2D_H_
-
-#include <fstream>
-#include <iostream>
-
-/**************************
- * laser_scan_utils includes *
- **************************/
-#include "laser_scan.h"
-
-/**************************
- * WOLF includes *
- **************************/
-//#include "core/landmark/landmark_base.h"
-
-/**************************
- * Falko includes *
- **************************/
-#include <falkolib/Feature/BSC.h>
-#include <falkolib/Feature/CGH.h>
-#include <falkolib/Feature/FALKO.h>
-#include <falkolib/Feature/FALKOExtractor.h>
-
-#include <falkolib/Feature/BSCExtractor.h>
-#include <falkolib/Feature/CGHExtractor.h>
-
-#include <falkolib/Matching/AHTMatcher.h>
-#include <falkolib/Matching/NNMatcher.h>
-
-namespace laserscanutils {
-
-/** \brief A 2D corner extractor and loop closure computing class
-**/
-
-class CornerFalko2d : public falkolib::FALKOExtractor,
- public falkolib::BSCExtractor<falkolib::FALKO>,
- public falkolib::NNMatcher<falkolib::FALKO> {
-private:
- /** \brief Get and stores a scene to use as trained/Reference set of
- *keypoints.
- **/
- void AddNewReferenceScene(falkolib::LaserScan scanFALKO);
-
-public:
- /**
- * @brief Constructor
- * @param _circularSectorNumber number of grid circular sector (BSCExtractor)
- * @param _radialRingNumber number of grid radial number (BSCExtractor)
- * @param _useKeypointRadius if true, the selected neighborhood points search
- * radius is keypoint one (BSCExtractor)
- * @param _radius neighborhood points search radius (BSCExtractor)
- */
- CornerFalko2d(int _circularSectorNumber = 16, int _radialRingNumber = 8,
- bool _useKeypointRadius = true, double _radius = 0.1);
-
- /** \brief Destructor
- **/
- ~CornerFalko2d();
-
- /** \brief compare new scans against the training set in order to find loop
- *closures
- **/
- void findLoopClosure(LaserScan scan, LaserScanParams scanParams);
-
- /** @brief set a threshold for the minimum number of matched keypoints to
- * consider a matching correct*/
- void setKeypointsNumberTh(int _th) { keypointsNumberTh = _th; }
-
- /** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan
- *object
- **/
- falkolib::LaserScan convert2LaserScanFALKO(LaserScan scan,
- LaserScanParams scanParams);
-
- /** \brief Evaluates if New scene is a good candidate to be a Reference Scene.
- *If it is detected as good,
- * the scene is added and the functions returns 1. If it is not a good
- *candidate, the function returns 0
- * and the scene is not added.
- **/
- int evaluateNewReferenceScene(LaserScan scan, LaserScanParams scanParams,
- int scanInterval);
-
- std::vector<std::vector<falkolib::FALKO>> keypointSets;
- std::vector<falkolib::FALKO> lastKeypointSet;
- std::vector<std::vector<falkolib::BSC>> descriptorSets;
- std::vector<falkolib::BSC> lastDescriptorSet;
-
- // Number of Scene matched when performing the loop closure
- int numberKeypointsMatch = 0;
-
- // Number of keypoints that are matched between 2 scenes when performing the
- // loop closure
- int numberSceneMatch = 0;
-
- int scanNumber = 0;
-
- int scansExtracted = 0;
-
- int matchingPosition = -1;
-
- int keypointsNumberTh = 2;
-
- // Max number of matched keypoints between 2 scenes for the candidate scene be
- // considered a good New reference scene
- int refSceneAddingTh = 4;
-};
-
-} /* namespace laserscanutils */
-
-#endif /* LANDMARK_POLYLINE_2d_H_ */
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index 40bd1f1b53cfa80b9bc0ab06105a203c3b06e6b5..63e4efbb4ef743ab976b5a505826cb99099c0058 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -3,7 +3,3 @@ INCLUDE_DIRECTORIES(../src)
# polylines demo
ADD_EXECUTABLE(demo_polylines polyline_demo.cpp)
TARGET_LINK_LIBRARIES(demo_polylines ${PROJECT_NAME})
-
-# falkocorners demo
-ADD_EXECUTABLE(demo_corner_falko corner_falko_demo.cpp testData.cpp)
-TARGET_LINK_LIBRARIES(demo_corner_falko ${PROJECT_NAME})
diff --git a/src/examples/corner_falko_demo.cpp b/src/examples/corner_falko_demo.cpp
deleted file mode 100644
index 8baa3569e993b76788dfa5636ecf0386dc33ff26..0000000000000000000000000000000000000000
--- a/src/examples/corner_falko_demo.cpp
+++ /dev/null
@@ -1,49 +0,0 @@
-/**
- * \file corner_falko_2d_test.cpp
- *
- * Created on: Jan 26, 2021
- * \author: spujol
- */
-
-//LaserScanUtils includes
-#include "../line_finder_iterative.h"
-#include "../corner_falko_2d.h"
-#include "../laser_scan.h"
-#include "testData.h"
-
-
-//std includes
-#include <ctime>
-#include <iostream>
-using namespace laserscanutils;
-
-int main(int argc, char** argv)
-{
-
- int scanSize = 1440;
- int scanInterval =1;
-
- LaserScan scan;
- LaserScanParams laserParams;
-
- laserParams.angle_min_=0;
- laserParams.angle_max_=2.0 * M_PI;
-
- for (int i=0; i<scanSize; i++) {
- scan.ranges_raw_.push_back(testRanges1[i]);
- }
-
- CornerFalko2d cornerMatching;
-
- int sceneAdded = cornerMatching.evaluateNewReferenceScene(scan, laserParams, scanInterval);
-
- std::cout << "num keypoints1 extracted: " << cornerMatching.lastKeypointSet.size() << std::endl;
-
- if (sceneAdded==1){
- std::cout << "NewRefSceneAdded!!! " << std::endl;
- }
-
- cornerMatching.findLoopClosure(scan, laserParams);
-
- std::cout << "matching number : " << cornerMatching.numberKeypointsMatch << std::endl;
-}
diff --git a/src/examples/testData.cpp b/src/examples/testData.cpp
deleted file mode 100644
index f71191cf88bd0b475550dd857bb7524abd7d856c..0000000000000000000000000000000000000000
--- a/src/examples/testData.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-/**
- * FALKOLib - Fast Adaptive Laser Keypoint Orientation-invariant
- * Copyright (C) 2016 Fabjan Kallasi and Dario Lodi Rizzini.
- *
- * This file is part of FALKOLib.
- *
- * FALKOLib is free software: you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * FALKOLib is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public License
- * along with FALKOLib. If not, see <http://www.gnu.org/licenses/>.
- */
-
- double testRanges1[]= {250, 250, 250, 250, 250, 17.263999938964844, 17.263999938964844, 17.263999938964844, 17.263999938964844, 13.552000045776367, 13.552000045776367, 13.552000045776367, 12.95199966430664, 12.95199966430664, 12.95199966430664, 12.95199966430664, 12.51200008392334, 11.567999839782715, 11.567999839782715, 10.720000267028809, 10.720000267028809, 10.720000267028809, 10.359999656677246, 10.336000442504883, 10.343999862670898, 10.35200023651123, 10.35200023651123, 10.32800006866455, 10.319999694824219, 10.383999824523926, 10.407999992370605, 10.432000160217285, 10.432000160217285, 10.447999954223633, 10.46399974822998, 10.46399974822998, 10.503999710083008, 10.503999710083008, 10.527999877929688, 10.592000007629395, 10.62399959564209, 8.368000030517578, 8.343999862670898, 8.343999862670898, 8.031999588012695, 7.831999778747559, 7.6479997634887695, 7.552000045776367, 7.415999889373779, 7.415999889373779, 7.263999938964844, 7.144000053405762, 7.0320000648498535, 6.920000076293945, 6.776000022888184, 6.776000022888184, 6.671999931335449, 6.576000213623047, 6.440000057220459, 6.328000068664551, 6.271999835968018, 6.271999835968018, 6.263999938964844, 6.271999835968018, 6.296000003814697, 6.320000171661377, 6.328000068664551, 6.328000068664551, 6.335999965667725, 6.320000171661377, 3.187999963760376, 3.187999963760376, 4.495999813079834, 4.495999813079834, 4.495999813079834, 4.495999813079834, 4.504000186920166, 4.504000186920166, 4.504000186920166, 4.544000148773193, 4.544000148773193, 4.544000148773193, 4.544000148773193, 4.51200008392334, 4.51200008392334, 4.51200008392334, 4.51200008392334, 4.599999904632568, 4.576000213623047, 4.495999813079834, 4.455999851226807, 4.455999851226807, 4.455999851226807, 4.455999851226807, 4.4079999923706055, 4.368000030517578, 4.320000171661377, 4.271999835968018, 4.271999835968018, 4.223999977111816, 4.184000015258789, 4.168000221252441, 4.159999847412109, 4.168000221252441, 4.176000118255615, 4.176000118255615, 4.184000015258789, 4.199999809265137, 4.199999809265137, 4.208000183105469, 4.216000080108643, 4.216000080108643, 4.223999977111816, 4.23199987411499, 4.23199987411499, 4.176000118255615, 250, 250, 4.111999988555908, 4.111999988555908, 4.111999988555908, 4.111999988555908, 4.099999904632568, 4.099999904632568, 4.099999904632568, 4.079999923706055, 4.0320000648498535, 3.98799991607666, 3.9719998836517334, 3.9719998836517334, 3.9560000896453857, 3.9240000247955322, 3.888000011444092, 3.859999895095825, 3.8320000171661377, 3.8320000171661377, 3.803999900817871, 3.7880001068115234, 3.259999990463257, 3.240000009536743, 3.2200000286102295, 3.2200000286102295, 3.200000047683716, 3.1760001182556152, 3.1559998989105225, 3.1440000534057617, 3.128000020980835, 3.128000020980835, 3.119999885559082, 2.5959999561309814, 2.5959999561309814, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 2.4839999675750732, 2.4839999675750732, 2.4839999675750732, 2.4839999675750732, 2.496000051498413, 2.5320000648498535, 250, 2.624000072479248, 2.624000072479248, 2.624000072479248, 2.624000072479248, 250, 250, 250, 250, 250, 250, 250, 2.6679999828338623, 2.6679999828338623, 2.6679999828338623, 2.6679999828338623, 2.640000104904175, 2.640000104904175, 2.640000104904175, 2.628000020980835, 2.615999937057495, 2.615999937057495, 2.6080000400543213, 2.5959999561309814, 2.5880000591278076, 2.5759999752044678, 2.563999891281128, 2.563999891281128, 2.555999994277954, 2.5439999103546143, 2.5320000648498535, 2.5199999809265137, 2.51200008392334, 2.51200008392334, 2.503999948501587, 2.492000102996826, 2.4839999675750732, 2.4719998836517334, 2.4639999866485596, 2.4639999866485596, 2.4600000381469727, 2.4519999027252197, 2.440000057220459, 2.431999921798706, 2.4200000762939453, 2.4200000762939453, 2.4159998893737793, 2.4079999923706055, 2.4079999923706055, 2.427999973297119, 2.444000005722046, 2.444000005722046, 2.4600000381469727, 2.4719998836517334, 2.48799991607666, 2.5, 2.5160000324249268, 2.5160000324249268, 2.5280001163482666, 2.5399999618530273, 2.559999942779541, 2.5799999237060547, 2.5840001106262207, 2.5840001106262207, 3.0480000972747803, 3.0480000972747803, 2.631999969482422, 2.631999969482422, 2.631999969482422, 2.624000072479248, 2.624000072479248, 2.624000072479248, 2.624000072479248, 2.615999937057495, 2.611999988555908, 2.6040000915527344, 2.6040000915527344, 2.5959999561309814, 2.5920000076293945, 2.5840001106262207, 2.5759999752044678, 2.572000026702881, 2.572000026702881, 2.563999891281128, 2.555999994277954, 2.5480000972747803, 2.5439999103546143, 2.5399999618530273, 2.5399999618530273, 2.5360000133514404, 2.5320000648498535, 2.5239999294281006, 2.5199999809265137, 2.507999897003174, 2.507999897003174, 2.503999948501587, 2.5, 2.496000051498413, 2.492000102996826, 2.48799991607666, 2.48799991607666, 2.4800000190734863, 2.4760000705718994, 2.4719998836517334, 2.4679999351501465, 2.4639999866485596, 2.4560000896453857, 2.4560000896453857, 2.4519999027252197, 2.447999954223633, 2.447999954223633, 2.444000005722046, 2.436000108718872, 2.436000108718872, 2.431999921798706, 2.427999973297119, 2.4240000247955322, 2.4240000247955322, 2.4200000762939453, 2.4200000762939453, 2.4159998893737793, 2.4079999923706055, 2.4040000438690186, 2.4040000438690186, 2.4000000953674316, 2.4000000953674316, 2.3959999084472656, 2.3919999599456787, 2.3919999599456787, 2.388000011444092, 2.384000062942505, 2.384000062942505, 2.380000114440918, 2.375999927520752, 2.371999979019165, 2.371999979019165, 2.368000030517578, 2.364000082015991, 2.364000082015991, 2.364000082015991, 2.364000082015991, 2.359999895095825, 2.3559999465942383, 2.3559999465942383, 2.3559999465942383, 2.6600000858306885, 2.6600000858306885, 2.6600000858306885, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.0, 2.0, 2.0, 2.0, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.99399995803833, 1.9919999837875366, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.99399995803833, 2.0, 2.0, 2.009999990463257, 2.0220000743865967, 2.0460000038146973, 2.0460000038146973, 2.0260000228881836, 2.0260000228881836, 2.00600004196167, 1.996000051498413, 1.99399995803833, 1.9900000095367432, 1.9919999837875366, 1.9919999837875366, 1.996000051498413, 1.9980000257492065, 1.99399995803833, 1.9919999837875366, 1.9919999837875366, 1.9919999837875366, 1.99399995803833, 1.99399995803833, 1.996000051498413, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 2.0, 2.0, 1.9980000257492065, 1.9980000257492065, 1.9919999837875366, 1.9520000219345093, 2.0320000648498535, 2.0999999046325684, 2.1040000915527344, 2.1040000915527344, 2.0280001163482666, 1.9040000438690186, 1.9279999732971191, 1.9520000219345093, 1.9559999704360962, 1.9559999704360962, 1.9600000381469727, 1.9579999446868896, 1.9600000381469727, 1.9620000123977661, 1.9639999866485596, 1.9639999866485596, 1.965999960899353, 1.965999960899353, 1.968000054359436, 1.972000002861023, 1.9759999513626099, 1.9759999513626099, 1.9759999513626099, 1.9759999513626099, 1.9800000190734863, 1.9839999675750732, 1.9800000190734863, 1.9800000190734863, 1.9819999933242798, 1.9880000352859497, 1.996000051498413, 2.009999990463257, 2.00600004196167, 2.00600004196167, 1.99399995803833, 2.687999963760376, 2.687999963760376, 2.687999963760376, 1.74399995803833, 1.74399995803833, 2.063999891281128, 2.115999937057495, 2.196000099182129, 2.191999912261963, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 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2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5280001163482666, 2.5280001163482666, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5280001163482666, 2.5239999294281006, 2.5280001163482666, 2.5280001163482666, 2.5280001163482666, 2.5280001163482666, 2.5280001163482666, 2.5320000648498535, 2.5320000648498535, 2.5320000648498535, 2.5320000648498535, 2.5320000648498535, 2.5320000648498535, 2.5360000133514404, 2.5399999618530273, 2.5480000972747803, 2.5480000972747803, 2.5480000972747803, 2.5399999618530273, 2.5439999103546143, 2.552000045776367, 2.555999994277954, 2.555999994277954, 2.552000045776367, 2.5480000972747803, 250, 1.3179999589920044, 1.3179999589920044, 1.3179999589920044, 1.3179999589920044, 1.3079999685287476, 1.2999999523162842, 1.2940000295639038, 1.2940000295639038, 1.2879999876022339, 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6.616000175476074, 6.455999851226807, 6.343999862670898, 6.343999862670898, 6.320000171661377, 6.311999797821045, 9.192000389099121, 9.175999641418457, 9.15999984741211, 9.15999984741211, 9.128000259399414, 9.119999885559082, 7.992000102996826, 7.9120001792907715, 7.8480000495910645, 7.8480000495910645, 7.800000190734863, 7.74399995803833, 7.71999979019165, 7.711999893188477, 7.711999893188477, 7.711999893188477, 7.711999893188477, 7.71999979019165, 7.71999979019165, 7.711999893188477, 7.703999996185303, 7.703999996185303, 7.703999996185303, 7.688000202178955, 7.688000202178955, 7.688000202178955, 7.688000202178955, 7.671999931335449, 8.67199993133545, 8.640000343322754, 8.607999801635742, 8.583999633789062, 8.583999633789062, 8.5600004196167, 8.552000045776367, 8.53600025177002, 8.520000457763672, 8.503999710083008, 8.503999710083008, 8.472000122070312, 8.447999954223633, 8.416000366210938, 8.383999824523926, 8.383999824523926, 8.383999824523926, 8.368000030517578, 8.35200023651123, 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-
-
diff --git a/src/examples/testData.h b/src/examples/testData.h
deleted file mode 100644
index d0e07f09dfadae8a1b9f587b01e8322bf750294b..0000000000000000000000000000000000000000
--- a/src/examples/testData.h
+++ /dev/null
@@ -1,28 +0,0 @@
-/**
- * FALKOLib - Fast Adaptive Laser Keypoint Orientation-invariant
- * Copyright (C) 2016 Fabjan Kallasi and Dario Lodi Rizzini.
- *
- * This file is part of FALKOLib.
- *
- * FALKOLib is free software: you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * FALKOLib is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public License
- * along with FALKOLib. If not, see <http://www.gnu.org/licenses/>.
- */
-#pragma once
-
-extern double testRanges1[];
-
-extern double testRanges2[];
-
-extern double testRangesOrtho1[];
-
-extern double testRangesOrtho2[];