Always true condition?

[VRichardJP]

What is the point of the branching here:

direct_lidar_inertial_odometry/src/dlio/odom.cc

Lines 474 to 489 in bed8ae3

	// publish keyframe scan for map
	if (this->vf_use_) {
	if (kf.second->points.size() == kf.second->width * kf.second->height) {
	sensor_msgs::PointCloud2 keyframe_cloud_ros;
	pcl::toROSMsg(*kf.second, keyframe_cloud_ros);
	keyframe_cloud_ros.header.stamp = timestamp;
	keyframe_cloud_ros.header.frame_id = this->odom_frame;
	this->kf_cloud_pub.publish(keyframe_cloud_ros);
	}
	} else {
	sensor_msgs::PointCloud2 keyframe_cloud_ros;
	pcl::toROSMsg(*kf.second, keyframe_cloud_ros);
	keyframe_cloud_ros.header.stamp = timestamp;
	keyframe_cloud_ros.header.frame_id = this->odom_frame;
	this->kf_cloud_pub.publish(keyframe_cloud_ros);
	}

I ran DLIO on some sample data and I noticed kf.second->points.size() == kf.second->width * kf.second->height is always true. So is there any need for a branching?