Modify voteForKf to use last timestamp and not incoming

src/processor/processor_odom_icp_3d.cpp

@@ -179,7 +179,7 @@ unsigned int ProcessorOdomIcp3d::processNew(const int& _max_features)
  */
 bool ProcessorOdomIcp3d::voteForKeyFrame() const
 {
-    if (incoming_laser_->getTimeStamp() - origin_laser_->getTimeStamp() > params_odom_icp_->max_time_span)
+    if (last_ptr_->getTimeStamp() - origin_ptr_->getTimeStamp() > params_odom_icp_->max_time_span)
     {
         return true;
     }