diff --git a/app.py b/app.py
index e42e254..6efe3ec 100644
--- a/app.py
+++ b/app.py
@@ -17,6 +17,7 @@
 parser.add_argument('--y_up', action='store_true')
 parser.add_argument('--recenter', action='store_true')
 parser.add_argument('--rescale', type=float, default=None)
+parser.add_argument('--camera_axis', type=str, default='-z')
 
 args = parser.parse_args()
 
@@ -61,7 +62,7 @@
 
         images.append(load_image(fpath, sz=args.image_size))
 
-viz = CameraVisualizer(poses, legends, colors, images=images)
+viz = CameraVisualizer(poses, legends, colors, images=images, camera_axis=args.camera_axis)
 fig = viz.update_figure(args.scene_size, base_radius=1, zoom_scale=1, show_grid=True, show_ticklabels=True, show_background=True, y_up=args.y_up)
 
 fig.show()
diff --git a/src/visualizer.py b/src/visualizer.py
index e0ec9af..1204f39 100644
--- a/src/visualizer.py
+++ b/src/visualizer.py
@@ -5,7 +5,7 @@
 import numpy as np
 
 
-def calc_cam_cone_pts_3d(c2w, fov_deg, zoom = 1.0):
+def calc_cam_cone_pts_3d(c2w, fov_deg, zoom = 1.0, camera_axis = '-z'):
 
     fov_rad = np.deg2rad(fov_deg)
 
@@ -13,11 +13,18 @@ def calc_cam_cone_pts_3d(c2w, fov_deg, zoom = 1.0):
     cam_y = c2w[1, -1]
     cam_z = c2w[2, -1]
 
-    corn1 = [np.tan(fov_rad / 2.0), np.tan(fov_rad / 2.0), -1.0]
-    corn2 = [-np.tan(fov_rad / 2.0), np.tan(fov_rad / 2.0), -1.0]
-    corn3 = [-np.tan(fov_rad / 2.0), -np.tan(fov_rad / 2.0), -1.0]
-    corn4 = [np.tan(fov_rad / 2.0), -np.tan(fov_rad / 2.0), -1.0]
-    corn5 = [0, np.tan(fov_rad / 2.0), -1.0]
+    if camera_axis == '+z':
+        z_multiplier = -1
+    elif camera_axis == '-z':
+        z_multiplier = 1
+    else:
+        raise ValueError("Camera axis must be either '+z' or '-z'. It's '-z' by default.")
+    
+    corn1 = [np.tan(fov_rad / 2.0), np.tan(fov_rad / 2.0), z_multiplier*-1.0]
+    corn2 = [-np.tan(fov_rad / 2.0), np.tan(fov_rad / 2.0), z_multiplier*-1.0]
+    corn3 = [-np.tan(fov_rad / 2.0), -np.tan(fov_rad / 2.0), z_multiplier*-1.0]
+    corn4 = [np.tan(fov_rad / 2.0), -np.tan(fov_rad / 2.0), z_multiplier*-1.0]
+    corn5 = [0, np.tan(fov_rad / 2.0), z_multiplier*-1.0]
 
     corn1 = np.dot(c2w[:3, :3], corn1)
     corn2 = np.dot(c2w[:3, :3], corn2)
@@ -56,10 +63,13 @@ def calc_cam_cone_pts_3d(c2w, fov_deg, zoom = 1.0):
 
 class CameraVisualizer:
 
-    def __init__(self, poses, legends, colors, images=None, mesh_path=None, camera_x=1.0):
+    def __init__(self, poses, legends, colors, images=None, mesh_path=None, camera_x=1.0, camera_axis='-z'):
         self._fig = None
 
         self._camera_x = camera_x
+
+        # Boresight axis of the camera.
+        self._camera_axis = camera_axis
         
         self._poses = poses
         self._legends = legends
@@ -140,7 +150,7 @@ def update_figure(
 
             edges = [(0, 1), (0, 2), (0, 3), (0, 4), (1, 2), (2, 3), (3, 4), (4, 1), (0, 5)]
 
-            cone = calc_cam_cone_pts_3d(pose, fov_deg)
+            cone = calc_cam_cone_pts_3d(pose, fov_deg, camera_axis=self._camera_axis)
             radius = np.linalg.norm(pose[:3, -1])
 
             if self._bit_images and self._bit_images[i]: