Not normalize 3d keypoint?

[noahcao]

Hi,

I noticed in the data loading, the 2d keypoint coordinates are normalized like here. Is there any reason why 3d keypoints are not normalized?

Given a set of keypoints_2d of [Nx3] and the corresponding keypoints_3d of [Nx4], I think their first two colomuns should be the same: keypoints_2d[:,:2] == keypoints_3d[:,:2]. Not normalizing 3d keypoints may introduce some noise here?