From ee1be8cd2fd0a3247679f0583dd4b822904ebab9 Mon Sep 17 00:00:00 2001
From: MarcSo <35328154+MarcSo@users.noreply.github.com>
Date: Wed, 19 Apr 2023 10:27:03 +0200
Subject: [PATCH] Update nuscenes.py

Checking for camera projections when

 use_flat_vehicle_coordinates ==  True

makes no sense since the obects are not projected into camera frame (but in another flat_vehicle_coordinate -frame)
---
 python-sdk/nuscenes/nuscenes.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python-sdk/nuscenes/nuscenes.py b/python-sdk/nuscenes/nuscenes.py
index c36c023ce..51190358b 100644
--- a/python-sdk/nuscenes/nuscenes.py
+++ b/python-sdk/nuscenes/nuscenes.py
@@ -299,7 +299,7 @@ def get_sample_data(self, sample_data_token: str,
                 box.translate(-np.array(cs_record['translation']))
                 box.rotate(Quaternion(cs_record['rotation']).inverse)
 
-            if sensor_record['modality'] == 'camera' and not \
+            if not use_flat_vehicle_coordinates and sensor_record['modality'] == 'camera' and not \
                     box_in_image(box, cam_intrinsic, imsize, vis_level=box_vis_level):
                 continue