Resolve "Implementation of Falko lib"

Closes #26 (closed)

src/loop_closure_base_2d.h

@@ -17,6 +17,7 @@
  **************************/
 #include "laser_scan.h"
 #include "scene_base.h"
+#include "scene_falko.h"
 
 /**************************
  *      Falko includes      *
@@ -52,11 +53,11 @@ public:
     /** \brief compare new scans against the trained set in order to find loop closures
      **/
     //virtual void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){}
-    virtual void findLoopClosure(){}
+    //virtual void findLoopClosure(){}
 
     /** \brief update the scene struct with keypoints and descriptors
      **/
-    //virtual void extractScene(LaserScan &scan,LaserScanParams &scanParams){}
+    virtual std::shared_ptr<sceneFalko<falkolib::BSC>> extractScene(LaserScan &scan,LaserScanParams &scanParams){}
 
     /** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
      **/