small fix on raster map querying for scene-centric data batch

NVlabs · Mar 15, 2023 · 4eafe21 · 4eafe21
1 parent 21b9ac2
commit 4eafe21
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/src/trajdata/data_structures/batch_element.py b/src/trajdata/data_structures/batch_element.py
@@ -546,6 +546,7 @@ def get_agents_map_patch(
                 offset_xy,
                 heading[i],
                 return_rgb,
+                rot_pad_factor=sqrt(2),
                 no_map_val=no_map_fill_val,
             )
             map_patches.append(

diff --git a/src/trajdata/utils/state_utils.py b/src/trajdata/utils/state_utils.py
@@ -126,7 +126,7 @@ def transform_from_frame(
     attributes = state._format_dict.keys()
 
     frame_heading = frame_state.heading[..., 0]
-    if rot_mat is not None:
+    if rot_mat is None:
         rot_mat = rotation_matrix(frame_heading)
 
     if "x" in attributes and "y" in attributes: