From c0a63ee70a177ef8929ba93a7b852edd00f96695 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 6 Dec 2021 00:58:09 +0100
Subject: [PATCH] Fix 420
---
src/processor/processor_odom_icp.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index 50872148f..ad55f0aa8 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/src/processor/processor_odom_icp.cpp
@@ -237,7 +237,7 @@ void ProcessorOdomIcp::resetDerived()
}
// Using processing_step_ to ensure that origin, last and incoming are different
- if (processing_step_ != FIRST_TIME_WITH_PACK && processing_step_ != FIRST_TIME_WITHOUT_PACK) {
+ if (processing_step_ != FIRST_TIME_WITH_KEYFRAME && processing_step_ != FIRST_TIME_WITHOUT_KEYFRAME) {
// Notation explanation:
// x1_R_x2: Rotation from frame x1 to frame x2
// x1_p_y1_y2: translation vector from y1 to y2 expressed in frame x1
--
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