Something confused about addMapPointObservation

[dshwtc]

Hi, I‘ve read your code recently, and I found something confused.
It's on line 608 and line 618 in mapHandler.cpp which shows below,

Vector3d dir_kf = Pf_kf.normalized();
dir_kf = curr_kf->T_kf_w.block(0,0,3,3) * dir_kf + curr_kf->T_kf_w.col(3).head(3);

I think this two sentences transform a 3D direction vector(3D point been normalized) from the keyframe frame to the world frame, and this is different from the other places when using the function "addMapPointObservation" which transfrom the 3D point first then normalized.
Is this something wrong?
Thanks!