Fix the bug of dataset/demo_dataset.py

[safsfsvvea]

dataset/demo_dataset.py, render_cloud function, the original code does't consider the case that P[1].min() <= 0 or P[0].min() <= 0

[EternalGoldenBraid]

Good point. Perhaps these two checks can be combined into a single if (else) statement? Since the second check should also return image, False don't you think?

if P[1].max() >= self.cam_height or P[0].max() >= self.cam_width:
        return image, False

P = P.astype(
if np.any((P[1] < 0) | (P[1] >= image.shape[0]) | (P[0] < 0) | (P[0] >= image.shape[1])):
        print(f"Error: P is out of bounds: P={P}, image.shape={image.shape}")
        print(f"R: {R}, t: {t}, self.point_cloud[obj_id]: {self.point_cloud[obj_id]}")
        print(f"self.cam_K_np: {self.cam_K_np}")

It's been a while since I've worked with this code so I might be missing smth.

[safsfsvvea]

Yes, if np.any((P[1] < 0) | (P[1] >= image.shape[0]) | (P[0] < 0) | (P[0] >= image.shape[1])):
this if and else can be savely deleted, and then you can just add the change of dataset/demo_dataset.py. If it is necessary, I can submit another pull request.