Resolve "Implementation of Falko lib"

Closes #26 (closed)

src/corner_falko_2d.cpp

@@ -7,4 +7,32 @@
 
 #include "corner_falko_2d.h"
 
+namespace wolf{
+
+void CornerFalko2d::extract (falkolib::LaserScan scan){
+    
+    
+    
+    fe.setMinExtractionRange(0.25);
+	fe.setMaxExtractionRange(25);
+	fe.enableSubbeam(true);
+    fe.setNMSRadius(0.1);
+    fe.setNeighB(0.01);
+    fe.setBRatio(4);
+	fe.setGridSectors(16);
+    
+    std::vector<falkolib::FALKO> keypoints;
+
+    /*
+    fe.extract(scan, keypoints);
+    
+    
+    falkolib::BSCExtractor<falkolib::FALKO> bsc(16,8);
+    std::vector<falkolib::BSC> bscDesc;
+    bsc.compute(scan, keypoints, bscDesc);
+    */
+}
+
+}
+