Resolve "Implementation of Falko lib"

Closes #26 (closed)

src/examples/corner_falko_demo.cpp

@@ -21,6 +21,7 @@ int main(int argc, char** argv)
 {
 
     int scanSize = 1440;
+    int scanInterval =1;
 
     falkolib::LaserScan scan1(0, 2.0 * M_PI, scanSize);
 
@@ -28,8 +29,10 @@ int main(int argc, char** argv)
 
     CornerFalko2d CornerMatching;
 
-    CornerMatching.extract(scan1, CornerMatching.lastKeypointSet);
+    CornerMatching.storeCorners(scan1, scanInterval);
 
     std::cout << "num keypoints1 extracted: " << CornerMatching.lastKeypointSet.size() << std::endl;
 
+    CornerMatching.findLoopClosure(scan1);
+
 }