diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 3860988eaeeebb60a99e5a75b61e50639dd746c4..ea6322714195e8fad38ecae701bd1a8a6d4789a5 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -57,6 +57,7 @@ SET(HDRS
     polyline.h
     scan_segment.h
     loop_closure_base_2d.h
+    scene_base.h
     )
   IF(csm_FOUND)
     SET(HDRS ${HDRS}
@@ -97,8 +98,7 @@ SET(SRCS
   IF(falkolib_FOUND)
     SET(SRCS ${SRCS}
       corner_falko_2d.cpp
-      loop_closure_falko.cpp
-      corner_scene.cpp)
+      loop_closure_falko.cpp)
   ENDIF(falkolib_FOUND)
 
 
diff --git a/src/corner_scene.cpp b/src/corner_scene.cpp
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp
index caf5518f9bedd8756efd103469b37be6bd581c3a..5e363269a11928e5727f0adc630defbd01ab227a 100644
--- a/src/loop_closure_falko.cpp
+++ b/src/loop_closure_falko.cpp
@@ -27,7 +27,7 @@ namespace laserscanutils{
         setGridSectors(16);
 
         // Matcher Extractor Parameters
-        //matcher.setDistanceThreshold(0.1);
+        matcher_.setDistanceThreshold(0.1);
 
     }
 
@@ -44,10 +44,7 @@ namespace laserscanutils{
         extract((*scanFALKO), (newScene->keypointsList));
 
         // Compute descriptors
-        //loopClosureFalko<D,Extr,M>::extractor:
         extractor_.compute(*scanFALKO,newScene->keypointsList, newScene->descriptorsList);
-        //extractor.compute((*scanFALKO),((*newScene).keypointsList), ((*newScene).descriptorsList));
-        //loopClosureFalko<D,Extr,M>::extractor::compute((*scanFALKO),((*newScene).keypointsList), ((*newScene).descriptorsList));
         return newScene;
     }
 
diff --git a/src/scene_base.h b/src/scene_base.h
new file mode 100644
index 0000000000000000000000000000000000000000..4be0f75726c3881c66e0c69958bf944b7a7a877d
--- /dev/null
+++ b/src/scene_base.h
@@ -0,0 +1,26 @@
+/**
+ * \file scene_base.h
+ *
+ *  Created on: Feb 9, 2021
+ *      \author: spujol
+ */
+
+#ifndef SCENE_BASE_H_
+#define SCENE_BASE_H_
+
+#include <iostream>
+#include <fstream>
+
+
+namespace laserscanutils
+{
+
+struct sceneBase{
+    //std::vector<falkolib::FALKO> keypointsList;
+    //std::vector<D> descriptorsList;
+};
+
+
+} /* namespace laserscanutils */
+
+#endif /* SCENE_BASE_H_ */
diff --git a/src/scene_falko.h b/src/scene_falko.h
new file mode 100644
index 0000000000000000000000000000000000000000..a7da9e1a875ed9a07bf4cd888c05d003d1fb3cbf
--- /dev/null
+++ b/src/scene_falko.h
@@ -0,0 +1,48 @@
+/**
+ * \file scene_falko.h
+ *
+ *  Created on: Feb 9, 2021
+ *      \author: spujol
+ */
+
+#ifndef SCENE_FALKO_H_
+#define SCENE_FALKO_H_
+
+#include <iostream>
+#include <fstream>
+
+/**************************
+ *      LaserScanUtils includes      *
+ **************************/
+#inlcude "sceneBase.h"
+
+
+/**************************
+ *      Falko includes      *
+ **************************/
+#include <falkolib/Feature/FALKO.h>
+#include <falkolib/Feature/CGH.h>
+#include <falkolib/Feature/BSC.h>
+#include <falkolib/Feature/FALKOExtractor.h>
+
+#include <falkolib/Feature/BSCExtractor.h>
+#include <falkolib/Feature/CGHExtractor.h>
+
+#include <falkolib/Matching/NNMatcher.h>
+#include <falkolib/Matching/AHTMatcher.h>
+
+namespace laserscanutils
+{
+
+template <typename D>
+struct sceneFalko : sceneBase{
+    std::vector<falkolib::FALKO> keypointsList;
+    std::vector<D> descriptorsList;
+};
+
+typedef std::shared_ptr<cornerScene<falkolib::BSC>> sceneFalkoBSCPtr;
+
+
+} /* namespace laserscanutils */
+
+#endif /* SCENE_FALKO_H_ */
diff --git a/test/gtest_loop_closure_base_2d.cpp b/test/gtest_loop_closure_base_2d.cpp
index 66aca01933e50762cfa086fbfd827eef4470edca..b3439228d46b2fd879af19c3ca3bccedbef355c2 100644
--- a/test/gtest_loop_closure_base_2d.cpp
+++ b/test/gtest_loop_closure_base_2d.cpp
@@ -56,10 +56,6 @@ TEST(loop_closure_base_2d, convert2laserScanFalko)
 
   int firstPoint = ((*scanFALKO).ranges)[0];
 
-  EXPECT_FALSE(false);
-
-  ASSERT_TRUE(true);
-
   ASSERT_EQ(firstPoint, 250);
 
 //  PRINTF("All good at TestTest::DummyTestExample !\n");