Switched 06 to a single factor for the calibrations, instead of adding a new one each iteration
Tested the gravity alignment algorithm in 6. Seems to work (finds that the Vicon is indeed gravity aligned, and rotates the other two axes around Z.
The further along I've got so far: put the VO data in the 06 folder. IMU seemed to track well a portion of the data. I took the calibration poses for that part and set them as initial estimates, but it hasn't helped