Set up with LSD SLAM and front-looking camera on quadcopter in Gazebo

[vkpankov]

Hello, could someone set up LSD SLAM&IMU sensor fusion?

1. Where to get the covariance matrix? Is it a fixed matrix multiplied by lsd-slam scale enough, or it is better to set pose_use_fixed_covariance=true?

2. I have base_link for IMU and front_cam_optical_frame for lsd_slam/pose tf frames.
   I rotate lsd_slam pose in different node. Like that:
   pListener->lookupTransform ( "base_link", "front_cam_optical_frame", ros::Time ( 0 ), base_link_to_camera_transform );
tf::Transform pose_out = lsd_slam_pose_orientation*base_link_to_camera_transform.inverse();
tf::Quaternion pose_orientation = pose_out.getRotation();
   What now I should use for q_ic? [x=0, y=0, z=0, w=1] or something else?

Sorry for my English. Hope for your help!