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