Fix 420

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