Redundant points for visualization

[FengyuGuo]

https://github.com/rpng/open_vins/blob/74a63cf758f595cc280f2165e5a6576e7ef8521d/ov_msckf/src/ros/ROSVisualizerHelper.cpp#L49

should be

modifier.resize(feats.size());

[goldbattle]

Does this actually have any effect on the visualization?

[FengyuGuo]

A little. 2/3 of the points are published with global coordinate of 0, 0, 0. So you will see points in the global reference point.

But if points are used for further usage like occupancy grid, this will have huge effect.