Resolve "Implementation of Falko lib"

Closes #26 (closed)

src/corner_scene.h

@@ -11,13 +11,29 @@
 #include <iostream>
 #include <fstream>
 
+/**************************
+ *      Falko includes      *
+ **************************/
+#include <falkolib/Feature/FALKO.h>
+#include <falkolib/Feature/CGH.h>
+#include <falkolib/Feature/BSC.h>
+#include <falkolib/Feature/FALKOExtractor.h>
+
+#include <falkolib/Feature/BSCExtractor.h>
+#include <falkolib/Feature/CGHExtractor.h>
+
+#include <falkolib/Matching/NNMatcher.h>
+#include <falkolib/Matching/AHTMatcher.h>
+
 namespace laserscanutils
 {
+
+template <typename D>
 struct cornerScene{
-    std::vector<double> keypointsList;
-    std::vector<double> descriptorsList;
+    std::vector<falkolib::FALKO> keypointsList;
+    std::vector<D> descriptorsList;
 };
 
 } /* namespace laserscanutils */
 
-#endif /* CORNER_SCENE_H_ */
\ No newline at end of file
+#endif /* CORNER_SCENE_H_ */