Resolve "Implementation of Falko lib"

Closes #26 (closed)

src/loop_closure_falko.cpp

@@ -9,11 +9,23 @@
 
 namespace laserscanutils{
 
+    //CONSTRUCTOR
     template <typename Extractor, typename Matcher>
     loopClosureFalko<Extractor, Matcher>::loopClosureFalko(){
-
+        // FALKO Extractor Parameters
+        setMinExtractionRange(0.1);
+        setMaxExtractionRange(25);
+        enableSubbeam(true);
+        setNMSRadius(0.1);
+        setNeighB(0.01);
+        setBRatio(4);
+        setGridSectors(16);
+
+        // Matcher Extractor Parameters
+        matcher.setDistanceThreshold(0.1);
     }
 
+    // DESTRUCTOR
     template <typename Extractor, typename Matcher>
     loopClosureFalko<Extractor, Matcher>::~loopClosureFalko(){}