Resolve "Implementation of Falko lib"

Closes #26 (closed)

test/gtest_loop_closure_falko.cpp

@@ -16,7 +16,7 @@ TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
     scan.ranges_raw_.push_back(testRanges1[i]);
     scan2.ranges_raw_.push_back(testRanges2[i]);
   }
-  
+
   ParameterLoopClosureFalko param;
   LoopClosureFalko<bsc, bscExtractor, NNMatcher> loop_cl_falko(param);
 
@@ -26,10 +26,12 @@ TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
   int firstPoint = scan_falko->ranges[0];
 
   ASSERT_EQ(firstPoint, 250);
-  
+
   // Test extractScene
-  auto new_scene = std::static_pointer_cast<SceneFalko<bsc>>(loop_cl_falko.extractScene(scan, laser_params));
-  auto new_scene2 = std::static_pointer_cast<SceneFalko<bsc>>(loop_cl_falko.extractScene(scan2, laser_params));
+  auto new_scene = std::static_pointer_cast<SceneFalko<bsc>>(
+    loop_cl_falko.extractScene(scan, laser_params));
+  auto new_scene2 = std::static_pointer_cast<SceneFalko<bsc>>(
+    loop_cl_falko.extractScene(scan2, laser_params));
   int detectedKeypoints = new_scene->keypoints_list_.size();
   int detectedDescriptors = new_scene->descriptors_list_.size();
   ASSERT_EQ(detectedKeypoints, 18);
@@ -39,8 +41,8 @@ TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
   auto new_match = loop_cl_falko.matchScene(new_scene, new_scene);
   ASSERT_EQ(new_match->keypoints_number_match, 18);
 
-  // TEST findLoopClosure
-  auto ref_scenes= std::make_shared<SceneFalkoList<bsc>>();
+  // TesT findLoopClosure
+  auto ref_scenes = std::make_shared<SceneFalkoList<bsc>>();
   ref_scenes->scenes_.emplace_back(new_scene);
   ref_scenes->scenes_.emplace_back(new_scene2);