mismatch description of quaternion in exported poses

[ShuangLiu1992]

the exported poses from calibration suggests the quaternions are 'w,x,y,z'

kalibr/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccUtil.py

Line 267 in 1f60227

print("#timestamp, p_RS_R_x [m], p_RS_R_y [m], p_RS_R_z [m], q_RS_w [], q_RS_x [], q_RS_y [], q_RS_z []", file=f)

but the conversion code r2quat seems to be outputing 'x,y,z,w'

[ShuangLiu1992]

follow up question, I want to use the exported "*-poses-imucam-imu0.csv" and render the projected marker corners to examine the results visually. In addition it seems like rotation is inverted as well, I can only manage to get the projected marker align correctly with [R^-1, T] @ T_cam_imu^-1.

For clarification I'm following the coordinate system in opencv calib3d, i.e. projectPoints with (cam_pose^-1, K, dist)