Initrot matrx should be apply prior to orientation matrix

navipy/sensors/renderer.py

@@ -569,7 +569,10 @@ class BlenderRender(AbstractRender):
             axes=convention)
         if self._renderaxis == '+x':
             initrot = quatmatrix([0.5, 0.5, -0.5, -0.5])
-            rotmat[:3, :3] = initrot[:3, :3].dot(rotmat[:3, :3])
+            # The camera is aligned in -z
+            # A rotation along z wll thus roll the camera
+            # Althougth the camera should yaw in such case
+            rotmat[:3, :3] = rotmat[:3,:3].dot(initrot[:3, :3])
         # matrix_world in blender are column-major order
         # and numpy row-major order
         self.camera.matrix_world = np.transpose(rotmat)