第1-4题 参考链接：https://blog.csdn.net/qq_23225073/article/details/78334397
第5题：参考《Lie groups ,lie algebras, projective geometry and optimization for 3d Geometry,Engineering and Computer Vision》p18
第6题 有如下2.66性质，证明见《Lie Groups:An Introduction Through Linear Groups》
参考《strasdat_phd2012》Lie groups部分