diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
index 6e7b42f66bb61d6049b496f0d4f204860be7ad12..4b298a529801724887855cf51290b517d97e24c0 100644
--- a/src/corner_falko_2d.cpp
+++ b/src/corner_falko_2d.cpp
@@ -7,7 +7,7 @@
 
 #include "corner_falko_2d.h"
 
-namespace wolf{
+namespace laserscanutils{
 
 CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, bool _useKeypointRadius, double _radius) :BSCExtractor( _circularSectorNumber, _radialRingNumber, _useKeypointRadius ,_radius ) {
     // FALKO EXTRACTOR PARAMS
@@ -21,6 +21,10 @@ CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, b
 
 }
 
+CornerFalko2d::~CornerFalko2d()
+{
+
+}
 
 void CornerFalko2d::train (falkolib::LaserScan scan){
 
@@ -30,10 +34,10 @@ void CornerFalko2d::train (falkolib::LaserScan scan){
 
     //Compute descriptors
     lastDescriptorSet.clear();
-    bsc.compute(scan, lastKeypointSet, lastDescriptorSet);
+    compute(scan, lastKeypointSet, lastDescriptorSet);
 
 }
 
-} // wolf namespace
+} // laserscanutils namespace
 
 
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
index 13d52892da45e5c3ec3ee89e23335c6631b673f7..cb1b6750ac7d6b4c588e61e5fd35b8f1e3711ef0 100644
--- a/src/corner_falko_2d.h
+++ b/src/corner_falko_2d.h
@@ -31,7 +31,7 @@
 #include <falkolib/Matching/AHTMatcher.h>
 
 
-namespace wolf
+namespace laserscanutils
 {
 
 /** \brief A 2D corner extractor and loop closure computing class
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index 86ea3bc4930d9fffff3c985ac9456548e633d682..40bd1f1b53cfa80b9bc0ab06105a203c3b06e6b5 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -5,5 +5,5 @@ 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)
-TARGET_LINK_LIBRARIES(demo_corner_falko ${PROJECT_NAME})
\ No newline at end of file
+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
index b9a39af94a2db485ea8fdddbedd0ddf3886bb0fa..acfdfe42eed93018b952850e0c5bc6c111188959 100644
--- a/src/examples/corner_falko_demo.cpp
+++ b/src/examples/corner_falko_demo.cpp
@@ -9,6 +9,8 @@
 #include "../line_finder_iterative.h"
 #include "../corner_falko_2d.h"
 #include "../laser_scan.h"
+#include "testData.h"
+
 
 //std includes
 #include <ctime>
@@ -17,20 +19,17 @@ using namespace laserscanutils;
 
 int main(int argc, char** argv)
 {
-    LaserScanParams scan_params({-1.57079994678, 1.57079994678, 0.00875097513199, 0.0, 0.10000000149, 50.0, 0.1, 0.1});
 
-    std::vector<float> ranges({49.97591781616211, 49.996429443359375, 49.999759674072266, 50.0, 50.0, 50.0, 49.998634338378906, 50.0, 50.0, 49.99236297607422, 49.99384307861328, 50.0, 49.9869270324707, 50.0, 49.99005889892578, 49.99773406982422, 50.0, 49.98741912841797, 50.0, 49.99842071533203, 50.0, 49.99243927001953, 49.997291564941406, 50.0, 50.0, 49.98580551147461, 49.991844177246094, 49.98896026611328, 50.0, 50.0, 49.9897346496582, 49.998111724853516, 49.99882125854492, 50.0, 50.0, 50.0, 50.0, 49.999698638916016, 50.0, 50.0, 50.0, 50.0, 49.991397857666016, 49.99360275268555, 49.999027252197266, 49.99750900268555, 49.99100112915039, 49.998714447021484, 49.98794174194336, 50.0, 50.0, 50.0, 50.0, 50.0, 49.98186492919922, 50.0, 50.0, 50.0, 49.99155807495117, 49.997196197509766, 49.98872375488281, 49.99138259887695, 50.0, 49.99021530151367, 49.99164581298828, 50.0, 49.991390228271484, 50.0, 50.0, 50.0, 49.997249603271484, 50.0, 49.991851806640625, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 49.97983169555664, 49.98630142211914, 50.0, 20.6888370513916, 49.9797477722168, 49.98846435546875, 49.99418640136719, 50.0, 50.0, 50.0, 49.99342346191406, 50.0, 49.9906005859375, 50.0, 49.99853515625, 49.989444732666016, 38.552852630615234, 38.28703689575195, 38.04865264892578, 37.78112030029297, 37.54747772216797, 37.28171157836914, 37.206565856933594, 36.835411071777344, 36.61864471435547, 36.39655685424805, 36.1579475402832, 35.95964431762695, 35.75605773925781, 35.552188873291016, 35.75926208496094, 36.27781677246094, 35.16993713378906, 34.99699401855469, 34.82910919189453, 34.6483039855957, 34.48637390136719, 34.32539749145508, 34.16202163696289, 34.232051849365234, 33.86043167114258, 33.71691131591797, 33.566650390625, 33.42384338378906, 33.2882080078125, 33.16693115234375, 33.041419982910156, 32.906009674072266, 33.008323669433594, 33.706356048583984, 34.43825149536133, 35.25088119506836, 36.05652618408203, 36.930118560791016, 37.83384704589844, 33.12321472167969, 33.02351760864258, 32.9192008972168, 32.82925796508789, 32.74382781982422, 32.64959716796875, 32.580204010009766, 32.49120330810547, 33.05714797973633, 32.343536376953125, 32.26381301879883, 32.21063232421875, 32.12488555908203, 32.06965255737305, 32.0222282409668, 31.954957962036133, 31.903532028198242, 31.83578872680664, 32.51456832885742, 34.189456939697266, 31.12668228149414, 31.076339721679688, 31.047151565551758, 30.967018127441406, 30.956220626831055, 30.924589157104492, 30.893285751342773, 30.869199752807617, 30.843050003051758, 32.791847229003906, 30.809431076049805, 30.79128074645996, 30.779237747192383, 30.776460647583008, 30.74305534362793, 30.74994468688965, 30.7137393951416, 30.734609603881836, 30.719928741455078, 30.71673011779785, 49.99970626831055, 50.0, 49.987911224365234, 33.68583679199219, 31.76846694946289, 31.8026123046875, 31.802202224731445, 31.818490982055664, 31.85223960876465, 31.86141014099121, 31.906801223754883, 31.93423843383789, 31.964210510253906, 33.567230224609375, 32.055015563964844, 32.07001876831055, 32.13076400756836, 32.16000747680664, 32.22781753540039, 32.26890563964844, 32.323944091796875, 32.36326217651367, 32.430908203125, 49.980655670166016, 34.32135772705078, 33.09465789794922, 32.27247619628906, 32.33710479736328, 32.41763687133789, 32.498661041259766, 32.57213592529297, 32.67158126831055, 32.74591827392578, 32.814476013183594, 32.93477249145508, 33.04751968383789, 33.136863708496094, 33.23999786376953, 33.34675979614258, 33.42970657348633, 33.53573226928711, 33.66716003417969, 33.78378677368164, 33.905670166015625, 34.02836608886719, 34.151817321777344, 34.2794189453125, 34.41516876220703, 34.551273345947266, 34.702728271484375, 34.84151840209961, 34.986881256103516, 35.162757873535156, 35.332794189453125, 35.47941970825195, 35.65633010864258, 35.82624435424805, 36.00060272216797, 36.17729187011719, 36.36515808105469, 36.55763626098633, 36.744773864746094, 38.46407699584961, 37.869808197021484, 37.767921447753906, 37.958900451660156, 38.20857620239258, 38.38622283935547, 38.68323516845703, 38.871334075927734, 39.151519775390625, 39.377750396728516, 39.68268966674805, 39.89873123168945, 40.197330474853516, 40.47549819946289, 40.73743438720703, 41.04566955566406, 42.33650207519531, 41.92591094970703, 41.43912124633789, 41.045528411865234, 41.32114028930664, 41.581878662109375, 41.944580078125, 42.318912506103516, 42.6725959777832, 43.07264709472656, 43.443477630615234, 43.83216094970703, 44.19996643066406, 44.63225555419922, 45.06049346923828, 45.468536376953125, 45.89896774291992, 46.330604553222656, 46.778343200683594, 47.31666946411133, 47.789310455322266, 48.26376724243164, 48.826602935791016, 49.33188247680664, 49.990909576416016, 50.0, 50.0, 50.0, 50.0, 49.995697021484375, 49.99568176269531, 49.98163986206055, 50.0, 50.0, 49.9764289855957, 50.0, 50.0, 49.98639678955078, 49.99431228637695, 50.0, 50.0, 50.0, 50.0, 49.9874267578125, 50.0, 49.98714828491211, 50.0, 49.99470901489258, 49.99113464355469, 50.0, 50.0, 50.0, 49.985504150390625, 49.99067306518555, 50.0, 49.997161865234375, 50.0, 50.0, 50.0, 49.995513916015625, 49.993038177490234, 50.0, 49.99763107299805, 50.0, 49.98752975463867, 50.0, 49.988037109375, 50.0, 50.0, 50.0, 49.9975700378418, 50.0, 49.998756408691406, 49.97819519042969, 49.99104690551758, 49.99087905883789, 49.94268798828125, 49.85968017578125, 49.786617279052734, 49.70594787597656, 49.62562561035156, 49.56686782836914, 49.50475311279297, 49.416934967041016, 49.35699462890625, 49.308589935302734, 49.990482330322266, 50.0, 49.998836517333984, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 49.980472564697266, 49.99903869628906, 50.0, 50.0, 49.989845275878906, 49.98395919799805, 50.0, 49.99302673339844, 49.99530792236328, 49.99745559692383, 50.0, 49.99560546875, 21.569303512573242});
-    LaserScan scan(ranges);
+    int scanSize = 1440;
 
-    std::cout << "scan created!" << std::endl;
+    falkolib::LaserScan scan1(0, 2.0 * M_PI, scanSize);
 
-    LineFinderIterative line_finder(LineFinderIterativeParams({1, 5, 1, 1}));
+    scan1.fromRanges(testRanges1);
 
-    std::cout << "line_finder created!" << std::endl;
+    CornerFalko2d CornerMatching;
 
-    std::list<laserscanutils::Polyline> polyline_list;
-    line_finder.findPolylines(scan, scan_params, polyline_list);
+    CornerMatching.extract(scan1, CornerMatching.lastKeypointSet);
 
-    std::cout << polyline_list.size() << " polylines found!" << std::endl;
+    std::cout << "num keypoints1 extracted: " << CornerMatching.lastKeypointSet.size() << std::endl;
 
 }
diff --git a/src/examples/testData.cpp b/src/examples/testData.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f71191cf88bd0b475550dd857bb7524abd7d856c
--- /dev/null
+++ b/src/examples/testData.cpp
@@ -0,0 +1,23 @@
+/**
+ * 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, 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, 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, 2.5280001163482666, 2.5280001163482666, 2.5280001163482666, 2.5280001163482666, 2.5199999809265137, 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, 1.2860000133514404, 1.2940000295639038, 1.3040000200271606, 1.3040000200271606, 1.3040000200271606, 1.2999999523162842, 1.2979999780654907, 1.3020000457763672, 1.309999942779541, 1.3140000104904175, 1.3140000104904175, 1.3140000104904175, 1.3240000009536743, 1.3359999656677246, 1.3420000076293945, 1.343999981880188, 1.343999981880188, 1.2200000286102295, 250, 250, 250, 250, 250, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.090000033378601, 1.090000033378601, 1.0920000076293945, 1.0980000495910645, 1.0980000495910645, 1.100000023841858, 1.100000023841858, 1.100000023841858, 1.100000023841858, 1.0980000495910645, 1.0980000495910645, 1.0980000495910645, 1.0959999561309814, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.0920000076293945, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.1019999980926514, 1.1119999885559082, 1.121999979019165, 1.1260000467300415, 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, 5.791999816894531, 5.791999816894531, 5.791999816894531, 5.791999816894531, 5.776000022888184, 5.776000022888184, 5.776000022888184, 5.751999855041504, 5.751999855041504, 5.751999855041504, 5.751999855041504, 5.751999855041504, 5.736000061035156, 5.679999828338623, 5.671999931335449, 5.671999931335449, 5.631999969482422, 5.631999969482422, 5.552000045776367, 5.552000045776367, 5.552000045776367, 5.552000045776367, 5.559999942779541, 5.584000110626221, 6.104000091552734, 6.783999919891357, 6.831999778747559, 6.831999778747559, 6.831999778747559, 6.760000228881836, 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, 8.35200023651123, 8.336000442504883, 8.303999900817871, 8.303999900817871, 8.263999938964844, 8.239999771118164, 8.279999732971191, 8.392000198364258, 8.496000289916992, 8.496000289916992, 8.656000137329102, 8.807999610900879, 8.928000450134277, 9.015999794006348, 11.767999649047852, 11.767999649047852, 12.071999549865723, 12.175999641418457, 12.567999839782715, 12.663999557495117, 13.064000129699707, 13.064000129699707, 13.168000221252441, 13.607999801635742, 13.640000343322754, 13.53600025177002, 13.968000411987305, 13.968000411987305, 14.008000373840332, 14.104000091552734, 14.175999641418457, 14.104000091552734, 15.4399995803833, 15.4399995803833, 15.543999671936035, 15.48799991607666, 15.48799991607666, 15.503999710083008, 15.479999542236328, 15.479999542236328, 15.447999954223633, 15.399999618530273, 15.37600040435791, 15.35200023651123, 15.319999694824219, 15.319999694824219, 15.272000312805176, 15.272000312805176, 15.336000442504883, 15.303999900817871, 15.248000144958496, 15.248000144958496, 14.744000434875488, 15.303999900817871, 15.272000312805176, 15.248000144958496, 15.215999603271484, 15.223999977111816, 15.223999977111816, 15.248000144958496, 16.784000396728516, 16.719999313354492, 16.719999313354492, 16.719999313354492, 16.719999313354492, 16.672000885009766, 16.687999725341797, 16.719999313354492, 16.70400047302246, 16.607999801635742, 16.607999801635742, 16.624000549316406, 16.6560001373291, 16.23200035095215, 16.143999099731445, 16.06399917602539, 16.06399917602539, 16.016000747680664, 17.472000122070312, 19.007999420166016, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250};
+
+
diff --git a/src/examples/testData.h b/src/examples/testData.h
new file mode 100644
index 0000000000000000000000000000000000000000..d0e07f09dfadae8a1b9f587b01e8322bf750294b
--- /dev/null
+++ b/src/examples/testData.h
@@ -0,0 +1,28 @@
+/**
+ * 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[];