Configuring for forward-looking camera about ethzasl_msf HOT 6 CLOSED

@mhkabir The IMU to camera calibration denotes the orientation of the camera w.r.t. the IMU frame of reference expressed in the IMU frame of reference.

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@simonlynen Okay :) I'm not very good with quaternions, could you tell me the exact q_ic that will be correct for my setup? I tried, but I must be making a mistake as I trigger fuzzy tracking.

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@mhkabir Why do you want to set q_wv? The value you need to set is q_ic.

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@simonlynen Sorry, I mean q_ic, my bad.

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@mhkabir You need -90 degrees around z [sqrt(2), 0, 0, -sqrt(2)] followed by a -90 degrees rotation around x [sqrt(2), -sqrt(2), 0, 0]. The resulting quaternion is q_ic.

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So, [0.5, - 0.5, 0.5, 0.5]

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