points in pts0_new (new keypoints in left camera) might be unexpectedly rejected because of out-of-bound points in pts1_new (keypoints in right camera)

[NewThinker-Jeffrey]

Here is the relevant code: https://github.com/rpng/open_vins/blob/db026f3e68eea56b7e3d89daa0b5b4ddb12cd9e0/ov_core/src/track/TrackKLT.cpp#L682

I suppose we always want to add those detected new points pts0_new to pts0 if they're in the bound, despite their matching result to the right image. However this piece of code might reject some in-bound points in pts0_new because of others faults, i.e. out-of-bound ponits in pts1_new.

[goldbattle]

There is also a couple other bugs in the right stereo matching. I will push a public fix in a few days. Many thanks for the report.