The meaning of the jacobian

[zxawangxiaomu]

    Eigen::Matrix3d BSplinePose::orientationAndJacobian(double tk, Eigen::MatrixXd * J, Eigen::VectorXi * coefficientIndices) const
    {
      Eigen::Matrix3d C;
      Eigen::MatrixXd JS;
      Eigen::VectorXd p;
      p = evalDAndJacobian(tk,0,&JS, coefficientIndices);

      Eigen::Matrix3d S;
      C = rotation_->parametersToRotationMatrix(p.tail<3>(), &S);

      Eigen::MatrixXd JO = Eigen::MatrixXd::Zero(3,6);
      JO.block(0,3,3,3) = S;
      if(J)
	{
	  *J = JO * JS;
	}

      return C;

    }

In this code, I just do not know what does this jacobian J mean? Like JS, it meas the jacobian of p wrt the spline coefficients, so I guess JO is the jacobian of something wrt the p. But I do not know what does "something" refer to?

[zxawangxiaomu]

Besides, the 3x3 matrix S meas the matrix relating parameter rates to angular velocity, but in this code I find nothing about angular velocity, why the jacobian J/JO contains S?

[kannidekan]

execuse me, do you know how could i get the IMU YAML file of the requirements in the camera-imu calibration? #341

Thanks very much!