diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py index b0e282d48c5741136c0abf7d70f56e9d09985606..492237f2695b7cf484338ed64490625d4ed6be5b 100644 --- a/navipy/sensors/renderer.py +++ b/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)