Thanks guys.
I know there is a toggle button for camera rotation (i.e. press V and move the mouse) that can also be remapped, but that is not what I am looking for. I want to be able to rotate the camera left and right with specific keys (I like to use the QE keys), i.e. if I press the E key, then the camera rotates to the left. This is how it is done in many other games including Wasteland 2.