Resolve "Implementation of Falko lib"

Closes #26 (closed)

src/corner_falko_2d.cpp

@@ -9,30 +9,31 @@
 
 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);
-    */
+CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, bool _useKeypointRadius, double _radius) :BSCExtractor( _circularSectorNumber, _radialRingNumber, _useKeypointRadius ,_radius ) {
+    // FALKO EXTRACTOR PARAMS
+    setMinExtractionRange(0.25);
+    setMaxExtractionRange(25);
+    enableSubbeam(true);
+    setNMSRadius(0.1);
+    setNeighB(0.01);
+    setBRatio(4);
+    setGridSectors(16);
+
 }
 
+
+void CornerFalko2d::train (falkolib::LaserScan scan){
+
+    // Extract keypoints
+    lastKeypointSet.clear();
+    extract(scan, lastKeypointSet);
+
+    //Compute descriptors
+    lastDescriptorSet.clear();
+    bsc.compute(scan, lastKeypointSet, lastDescriptorSet);
+
 }
 
+} // wolf namespace
+