From d59ceb7f63878f5e087ea802d603ba0fd282ff56 Mon Sep 17 00:00:00 2001
From: Rajat Singhal <rajatsinghal564@gmail.com>
Date: Thu, 8 Oct 2020 08:16:30 +0530
Subject: [PATCH] Revert "Disable cameras after fetching images, projection
 matrix (#2881)" (#3064)

Running the Image API continuously seems to trigger exceptions

This reverts commit ba4be15
---
 Unreal/Plugins/AirSim/Source/PIPCamera.cpp          | 3 ---
 Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp | 4 ----
 2 files changed, 7 deletions(-)

diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
index b87ad3749a..8e3adfc27b 100644
--- a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
+++ b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
@@ -170,9 +170,6 @@ msr::airlib::ProjectionMatrix APIPCamera::getProjectionMatrix(const APIPCamera::
     else
         mat.setTo(Utils::nan<float>());
 
-    // Disable camera after our work is done
-    const_cast<APIPCamera*>(this)->setCameraTypeEnabled(image_type, false);
-
     return mat;
 }
 
diff --git a/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp b/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
index 6b034f81df..da28a1795f 100644
--- a/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
+++ b/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
@@ -112,10 +112,6 @@ void UnrealImageCapture::getSceneCaptureImage(const std::vector<msr::airlib::Ima
         response.width = render_results[i]->width;
         response.height = render_results[i]->height;
         response.image_type = request.image_type;
-
-        // Disable camera after fetching images
-        APIPCamera* camera = cameras_->at(request.camera_name);
-        camera->setCameraTypeEnabled(request.image_type, false);
     }
 
 }