diff --git a/src/examples/test_2_lasers_offline.cpp b/src/examples/test_2_lasers_offline.cpp
index cafdbcbca00ea30247fdd765bd3db6342224be2c..12b8e13ef357f3530e9d69187907ff2791f03ed9 100644
--- a/src/examples/test_2_lasers_offline.cpp
+++ b/src/examples/test_2_lasers_offline.cpp
@@ -131,7 +131,7 @@ int main(int argc, char** argv)
     laser_1_intrinsics.scan_params = laserscanutils::LaserScanParams({laser_1_params(0), laser_1_params(1), laser_1_params(2), laser_1_params(3), laser_1_params(4), laser_1_params(5), laser_1_params(6), laser_1_params(7)});
 
     ProcessorParamsLaser laser_1_processor_params;
-    laser_1_processor_params.line_finder_params_ = laserscanutils::LineFinderIterativeParams({0.1, 5});
+    laser_1_processor_params.line_finder_params_ = laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2});
     laser_1_processor_params.new_corners_th = 10;
 
     // laser 2 extrinsics and intrinsics
@@ -144,7 +144,7 @@ int main(int argc, char** argv)
     laser_2_intrinsics.scan_params = laserscanutils::LaserScanParams({laser_2_params(0), laser_2_params(1), laser_2_params(2), laser_2_params(3), laser_2_params(4), laser_2_params(5), laser_2_params(6), laser_2_params(7)});
 
     ProcessorParamsLaser laser_2_processor_params;
-    laser_2_processor_params.line_finder_params_ = laserscanutils::LineFinderIterativeParams({0.1, 5});
+    laser_2_processor_params.line_finder_params_ = laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2});
     laser_2_processor_params.new_corners_th = 10;
 
     Problem problem(FRM_PO_2D);
diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp
index fb79346271c4a15f63a7dc2838bb6b1b0c438fe5..d3a3899a2f026b0e1ce2fafd21467821cbfb190a 100644
--- a/src/examples/test_ceres_2_lasers.cpp
+++ b/src/examples/test_ceres_2_lasers.cpp
@@ -226,8 +226,8 @@ int main(int argc, char** argv)
     SensorGPSFix* gps_sensor = new SensorGPSFix(new StateBlock(gps_pose.head(2), true), new StateBlock(gps_pose.tail(1), true), gps_std);
     SensorLaser2D* laser_1_sensor = new SensorLaser2D(new StateBlock(laser_1_pose.head(2), true), new StateBlock(laser_1_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
     SensorLaser2D* laser_2_sensor = new SensorLaser2D(new StateBlock(laser_2_pose.head(2), true), new StateBlock(laser_2_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
-    ProcessorTrackerLandmarkCorner* laser_1_processor = new ProcessorTrackerLandmarkCorner(laserscanutils::LineFinderIterativeParams({0.1, 5}), 3, 10);
-    ProcessorTrackerLandmarkCorner* laser_2_processor = new ProcessorTrackerLandmarkCorner(laserscanutils::LineFinderIterativeParams({0.1, 5}), 3, 10);
+    ProcessorTrackerLandmarkCorner* laser_1_processor = new ProcessorTrackerLandmarkCorner(laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2}), 3, 10);
+    ProcessorTrackerLandmarkCorner* laser_2_processor = new ProcessorTrackerLandmarkCorner(laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2}), 3, 10);
     ProcessorOdom2D* odom_processor = new ProcessorOdom2D(1,1,100);
     odom_sensor->addProcessor(odom_processor);
     laser_1_sensor->addProcessor(laser_1_processor);
diff --git a/src/examples/test_ceres_2_lasers_polylines.cpp b/src/examples/test_ceres_2_lasers_polylines.cpp
index b21bc4fb72dfd3469cbc920b3360d699f137b874..a20ba72d16fd72cae21f36ed84b9169bb787a4ad 100644
--- a/src/examples/test_ceres_2_lasers_polylines.cpp
+++ b/src/examples/test_ceres_2_lasers_polylines.cpp
@@ -226,8 +226,15 @@ int main(int argc, char** argv)
     SensorGPSFix* gps_sensor = new SensorGPSFix(new StateBlock(gps_pose.head(2), true), new StateBlock(gps_pose.tail(1), true), gps_std);
     SensorLaser2D* laser_1_sensor = new SensorLaser2D(new StateBlock(laser_1_pose.head(2), true), new StateBlock(laser_1_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
     SensorLaser2D* laser_2_sensor = new SensorLaser2D(new StateBlock(laser_2_pose.head(2), true), new StateBlock(laser_2_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
-    ProcessorTrackerLandmarkPolyline* laser_1_processor = new ProcessorTrackerLandmarkPolyline(laserscanutils::LineFinderIterativeParams({0.1, 5}), 3, 10);
-    ProcessorTrackerLandmarkPolyline* laser_2_processor = new ProcessorTrackerLandmarkPolyline(laserscanutils::LineFinderIterativeParams({0.1, 5}), 3, 10);
+
+    wolf::ProcessorParamsPolyline laser_processor_params;
+    laser_processor_params.line_finder_params = laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2});
+    laser_processor_params.new_features_th = 3;
+    laser_processor_params.loop_frames_th = 10;
+    laser_processor_params.time_tolerance = 0.1;
+    laser_processor_params.position_error_th = 0.5;
+    ProcessorTrackerLandmarkPolyline* laser_1_processor = new ProcessorTrackerLandmarkPolyline(laser_processor_params);
+    ProcessorTrackerLandmarkPolyline* laser_2_processor = new ProcessorTrackerLandmarkPolyline(laser_processor_params);
     ProcessorOdom2D* odom_processor = new ProcessorOdom2D(1,1,100);
     odom_sensor->addProcessor(odom_processor);
     laser_1_sensor->addProcessor(laser_1_processor);