Resolve "Implementation of Falko lib"

Closes #26 (closed)

src/corner_falko_2d.cpp

@@ -70,7 +70,7 @@ void CornerFalko2d::findLoopClosure(falkolib::LaserScan scan){
 
         int NewMatchingNumber = match(keypointSets[i], keypointSet2, assoNN);
 
-        if (NewMatchingNumber > matchingNumber ) {
+        if (NewMatchingNumber > matchingNumber && NewMatchingNumber>keypointsNumberTh) {
             matchingNumber=NewMatchingNumber;
             matchingPosition=i;
         }