From 867283f88e5f9c317bc25d445f03a5f833d29232 Mon Sep 17 00:00:00 2001
From: Dominik Winkelbauer <dominik.winkelbauer@dlr.de>
Date: Mon, 12 Feb 2024 20:46:34 +0100
Subject: [PATCH] fix(camera): Fixes depth_via_raytracing with return_dist=True

---
 blenderproc/python/camera/CameraProjection.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/blenderproc/python/camera/CameraProjection.py b/blenderproc/python/camera/CameraProjection.py
index ce1f0961b..9bf981013 100644
--- a/blenderproc/python/camera/CameraProjection.py
+++ b/blenderproc/python/camera/CameraProjection.py
@@ -57,8 +57,9 @@ def depth_via_raytracing(bvh_tree: BVHTree, frame: Optional[int] = None, return_
         dists = np.reshape(dists, [resolution_y, resolution_x])
 
         if not return_dist:
-            depth = dist2depth(dists)
-        return depth
+            return dist2depth(dists)
+        else:
+            return dists
 
 def unproject_points(points_2d: np.ndarray, depth: np.ndarray, frame: Optional[int] = None, depth_cut_off: float = 1e6) -> np.ndarray:
     """ Unproject 2D points into 3D