Resolve "Implementation of Falko lib"

Closes #26 (closed)

src/examples/corner_falko_demo.cpp

@@ -23,18 +23,23 @@ int main(int argc, char** argv)
     int scanSize = 1440;
     int scanInterval =1;
 
-    falkolib::LaserScan scan1(0, 2.0 * M_PI, scanSize);
+    LaserScan scan;
+    LaserScanParams laserParams;
 
-    scan1.fromRanges(testRanges1);
+    laserParams.angle_min_=0;
+    laserParams.angle_max_=2.0 * M_PI;
+
+    for (int i=0; i<scanSize; i++) {
+     scan.ranges_raw_.push_back(testRanges1[i]);
+    }
 
     CornerFalko2d cornerMatching;
 
-    cornerMatching.storeCorners(scan1, scanInterval);
+    cornerMatching.storeCorners(scan, laserParams, scanInterval);
 
     std::cout << "num keypoints1 extracted: " << cornerMatching.lastKeypointSet.size() << std::endl;
 
-    cornerMatching.findLoopClosure(scan1);
+    cornerMatching.findLoopClosure(scan, laserParams);
 
     std::cout << "matching number : " << cornerMatching.matchingNumber << std::endl;
-
 }