Scene detection th modified

src/corner_falko_2d.cpp

@@ -77,7 +77,6 @@ void CornerFalko2d::findLoopClosure(LaserScan scan,LaserScanParams scanParams){
         }
     }
     if (numberSceneMatch>1){
-        numberKeypointsMatch=0;
         numberSceneMatch=0;
         matchingPosition=-1;
     }

src/corner_falko_2d.h

@@ -113,7 +113,7 @@ public:
     int keypointsNumberTh=2;
 
     // Max number of matched keypoints between 2 scenes for the candidate scene be considered a good New reference scene
-    int refSceneAddingTh =6;
+    int refSceneAddingTh =4;
 };
 
 } /* namespace laserscanutils */