From 29d806e49d7e20ce38b907b872daa918a32c6745 Mon Sep 17 00:00:00 2001
From: "Olivier J.N. Bertrand" <olivier.bertrand@uni-bielefeld.de>
Date: Fri, 22 Jun 2018 14:00:21 +0200
Subject: [PATCH] Correct orientation blender. The rotation of camera to aling
in x should be done after the rotation of cam according to yaw pitch roll
---
navipy/sensors/renderer.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index 57f7c67..f222983 100644
--- a/navipy/sensors/renderer.py
+++ b/navipy/sensors/renderer.py
@@ -568,7 +568,7 @@ class BlenderRender(AbstractRender):
axes=convention)
if self._renderaxis == '+x':
initrot = quatmatrix([0.5, 0.5, -0.5, -0.5])
- rotmat[:3, :3] = rotmat[:3, :3].dot(initrot[:3, :3])
+ rotmat[:3, :3] = initrot[:3, :3].dot(rotmat[:3, :3])
# matrix_world in blender are column-major order
# and numpy row-major order
self.camera.matrix_world = np.transpose(rotmat)
--
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