Camera-IMU body coordinate chirality

[qiqipchy]

Hello @stephanweiss @alexmillane
Thank you for sharing the source code, I have some small doubt when I combine it with ORBSLAM.The results never converge.
In the legend,

the world coordinate and vision coordinate are right-handed coordinate, IMU and Camera coordinate is the left-handed coordinate. q_i^w is defined as transformation from the IMU coordinate (left hand) to the World coordinate (right hand). I think that if the legend is correct, then q_i^w can not complete the transformation, or there is some transformation in the source code? I feel very confused.
My other conjecture is that all coordinate in the legend are left-handed coordinate, the legend is just explain the entire system and there is no need to care about the coordinate in it. I do not know how to understand this q_i^w, please help me, thank you!