I have just installed one into my S4. The fag lighter is a non-switched permanently live 12v. So I pulled off the lower fairing under the sttering wheel, and unbolted the main fuse box. (I am going by memory here, so hopefully will give you a guide). In the center block of the smaller fuses (near the top), there is a busbar with a switched 12v live. Use a multimeter to check. Be careful, as the airbag fuse is near there and is a 12v switched live. DO NOT USE THIS. The one I used was marked (something like) diagnostic port, aux heating and something else. it was a 10amp small blade fuse.
Sorry for the sort of's as I am in class. I'll pop open the panel later and put in a pic.
I esentially stripped the power adaptor for the camera to wire in spades for positive and negative. I bolted negative directly to chassis. The positve spade slid tightly in with the 12v switched busbar. Works a treat!