Resolve "Implementation of Falko lib"

Closes #26 (closed)

src/corner_falko_2d.cpp

@@ -10,8 +10,8 @@
 namespace laserscanutils{
 
 CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, bool _useKeypointRadius, double _radius) :BSCExtractor( _circularSectorNumber, _radialRingNumber, _useKeypointRadius ,_radius ) {
-    // FALKO EXTRACTOR PARAMS
-    setMinExtractionRange(0.25);
+    // FALKO Extractor Parameters
+    setMinExtractionRange(0.1);
     setMaxExtractionRange(25);
     enableSubbeam(true);
     setNMSRadius(0.1);
@@ -19,6 +19,8 @@ CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, b
     setBRatio(4);
     setGridSectors(16);
 
+    // Matcher Extractor Parameters
+    setDistanceThreshold(0.1);
 
 }
 
@@ -63,7 +65,6 @@ void CornerFalko2d::findLoopClosure(falkolib::LaserScan scan){
     int cols = sizeof(keypointSets)/(sizeof(int)*rows);
 
     for (int i=0; i<rows;i++){
-        setDistanceThreshold(0.1);
         std::vector<std::pair<int, int> > assoNN;
         matchingNumber = match(keypointSets[i], keypointSet2, assoNN);
     }