orientations of camera

[mam1680]

Hi
is orientations you provided in query.csv (orient_x, y z and w) are really for camera? in readme you said it is for camera relative to ECEF frame, I did following to check if it's correct:

• converted UTM coordinates to lat/long
• having lat/lon I converted quaternion in ECEF to NED euler angels (roll, pitch, yaw)

for example for first query image in ROUND_1 I got almost 73 degree for yaw (heading), but look at query image and google map image (google map images are always heading = 0, points to north)

first query image:

corresponding google map image:

clearly angle between this two image is less then 73 degree!

I think the orientations is for UAV (vehicle) itself! because UAV is moving in almost east direction where heading could be 73 degree.