第1-4題 參考鏈接：https://blog.csdn.net/qq_23225073/article/details/78334397
第5題：參考《Lie groups ,lie algebras, projective geometry and optimization for 3d Geometry,Engineering and Computer Vision》p18
第6題 有如下2.66性質，證明見《Lie Groups:An Introduction Through Linear Groups》
參考《strasdat_phd2012》Lie groups部分