已知空间点（世界坐标系下） p = [ X Y Z ] T \bf{p}=\begin{bmatrix}\it{X} & \it{Y} & \it{Z}\end{bmatrix}^\mathrm{T} p=[XYZ]T，记其重投影位置为 x ′ = [ u ′ v ′ ] T \bf{x'}=\begin{bmatrix}\it{u'}&v'\end{bmatrix}^\mathrm{T} x′=[u′v′]T以及其对应实际像素坐标点 x = [ u v ] T \bf{x}=\begin{bmatrix}\it{u}&v\end{bmatrix}^\mathrm{T} x=[uv]T，相机焦距为 f x f_x fx， f y f_y fy，平移量为 c x c_x cx， c y c_y cy，径向畸变系数 k 1 k_1 k1， k 2 k_2 k2，旋转矩阵 R R R对应的旋转向量 w = [ w 0 w 1 w 2 ] T \bf{w}=\begin{bmatrix}\it{w_0}&w_1&w_2\end{bmatrix}^\mathrm{T} w=[w0w1w2]T，平移向量 t = [ t 0 t 1 t 2 ] T \bf{t}=\begin{bmatrix}\it{t_0}&t_1&t_2\end{bmatrix}^\mathrm{T} t=[t0t1t2]T，则重投影误差 e = [ u − u ′ v − v ′ ] T \bf{e}=\begin{bmatrix}\it{u-u'}&\it{v-v'}\end{bmatrix}^\mathrm{T} e=[u−u′v−v′]T关于空间点位置，相机内参，相机外参的雅可比矩阵推导如下：
首先，写出重投影误差
e
\bf{e}
e的具体形式。记
p
\bf{p}
p点在相机坐标系下的坐标为
[
x
′
y
′
z
′
]
T
\begin{bmatrix}x'&y'&z'\end{bmatrix}^\mathrm{T}
[x′y′z′]T，有：
[
x
′
y
′
z
′
]
=
R
[
X
Y
Z
]
+
[
t
0
t
1
t
2
]
\begin{bmatrix}x'\\y'\\z'\end{bmatrix}=R\begin{bmatrix}X\\Y\\Z\end{bmatrix}+\begin{bmatrix}t_0\\t_1\\t_2\end{bmatrix}
⎣⎡x′y′z′⎦⎤=R⎣⎡XYZ⎦⎤+⎣⎡t0t1t2⎦⎤
记归一化平面坐标
[
x
y
]
T
\begin{bmatrix}x&y\end{bmatrix}^\mathrm{T}
[xy]T，有：
[
x
y
]
=
[
x
′
z
′
y
′
z
′
]
\begin{bmatrix}x\\y\end{bmatrix}=\begin{bmatrix}\displaystyle\frac{x'}{z'}\\\displaystyle\frac{y'}{z'}\end{bmatrix}
[xy]=⎣⎢⎡z′x′z′y′⎦⎥⎤
记畸变后对应坐标为
[
x
d
i
s
t
o
r
t
e
d
y
d
i
s
t
o
r
t
e
d
]
T
\begin{bmatrix}x_{distorted}&y_{distorted}\end{bmatrix}^\mathrm{T}
[xdistortedydistorted]T，
r
2
=
x
2
+
y
2
r^2=x^2+y^2
r2=x2+y2，有：
[
x
d
i
s
t
o
r
t
e
d
y
d
i
s
t
o
r
t
e
d
]
=
[
x
(
1
+
k
1
r
2
+
k
2
r
4
)
y
(
1
+
k
1
r
2
+
k
2
r
4
)
]
\begin{bmatrix}x_{distorted}\\y_{distorted}\end{bmatrix}=\begin{bmatrix}x(1+k_1r^2+k_2r^4)\\y(1+k_1r^2+k_2r^4)\end{bmatrix}
[xdistortedydistorted]=[x(1+k1r2+k2r4)y(1+k1r2+k2r4)]
那么其重投影坐标
x
′
\bf{x'}
x′为：
[
u
′
v
′
]
=
[
f
x
∗
x
d
i
s
t
o
r
t
e
d
+
c
x
f
y
∗
y
d
i
s
t
o
r
t
e
d
+
c
y
]
\begin{bmatrix}u'\\v'\end{bmatrix}=\begin{bmatrix}f_x*x_{distorted}+c_x\\f_y*y_{distorted}+c_y\end{bmatrix}
[u′v′]=[fx∗xdistorted+cxfy∗ydistorted+cy]
故重投影误差
e
\bf{e}
e为：
e
=
[
e
0
e
1
]
=
[
u
−
u
′
v
−
v
′
]
=
[
u
−
f
x
∗
x
∗
(
1
+
k
1
r
2
+
k
2
r
4
)
−
c
x
v
−
f
y
∗
y
∗
(
1
+
k
1
r
2
+
k
2
r
4
)
−
c
y
]
\bf{e}=\begin{bmatrix}e_0\\e_1\end{bmatrix}=\begin{bmatrix}u-u'\\v-v'\end{bmatrix}=\begin{bmatrix}u-f_x*x*(1+k_1r^2+k_2r^4)-c_x\\v-f_y*y*(1+k_1r^2+k_2r^4)-c_y\end{bmatrix}
e=[e0e1]=[u−u′v−v′]=[u−fx∗x∗(1+k1r2+k2r4)−cxv−fy∗y∗(1+k1r2+k2r4)−cy]
故雅克比矩阵可写作（
R
R
R用
w
\bf{w}
w表示）：
∂
e
∂
[
f
x
,
f
y
,
k
1
,
k
2
,
w
0
,
w
1
,
w
2
,
t
0
,
t
1
,
t
2
,
X
,
Y
,
Z
]
=
[
∂
e
0
∂
f
x
,
∂
e
0
∂
f
y
,
∂
e
0
∂
k
1
,
∂
e
0
∂
k
2
,
∂
e
0
∂
w
0
,
∂
e
0
∂
w
1
,
∂
e
0
∂
w
2
,
∂
e
0
∂
t
0
,
∂
e
0
∂
t
1
,
∂
e
0
∂
t
2
,
∂
e
0
∂
X
,
∂
e
0
∂
Y
,
∂
e
0
∂
Z
∂
e
1
∂
f
x
,
∂
e
1
∂
f
y
,
∂
e
1
∂
k
1
,
∂
e
1
∂
k
2
,
∂
e
1
∂
w
0
,
∂
e
1
∂
w
1
,
∂
e
1
∂
w
2
,
∂
e
1
∂
t
0
,
∂
e
1
∂
t
1
,
∂
e
1
∂
t
2
,
∂
e
1
∂
X
,
∂
e
1
∂
Y
,
∂
e
1
∂
Z
]
\displaystyle\frac{\partial\bf{e}}{\partial\begin{bmatrix}f_x,f_y,k_1,k_2,w_0,w_1,w_2,t_0,t_1,t_2,X,Y,Z\end{bmatrix}}=\\\begin{bmatrix}\displaystyle\frac{\partial e_0}{\partial f_x},\displaystyle\frac{\partial e_0}{\partial f_y},\displaystyle\frac{\partial e_0}{\partial k_1},\displaystyle\frac{\partial e_0}{\partial k_2},\displaystyle\frac{\partial e_0}{\partial w_0},\displaystyle\frac{\partial e_0}{\partial w_1},\displaystyle\frac{\partial e_0}{\partial w_2},\displaystyle\frac{\partial e_0}{\partial t_0},\displaystyle\frac{\partial e_0}{\partial t_1},\displaystyle\frac{\partial e_0}{\partial t_2},\displaystyle\frac{\partial e_0}{\partial X},\displaystyle\frac{\partial e_0}{\partial Y},\displaystyle\frac{\partial e_0}{\partial Z}\\\displaystyle\frac{\partial e_1}{\partial f_x},\displaystyle\frac{\partial e_1}{\partial f_y},\displaystyle\frac{\partial e_1}{\partial k_1},\displaystyle\frac{\partial e_1}{\partial k_2},\displaystyle\frac{\partial e_1}{\partial w_0},\displaystyle\frac{\partial e_1}{\partial w_1},\displaystyle\frac{\partial e_1}{\partial w_2},\displaystyle\frac{\partial e_1}{\partial t_0},\displaystyle\frac{\partial e_1}{\partial t_1},\displaystyle\frac{\partial e_1}{\partial t_2},\displaystyle\frac{\partial e_1}{\partial X},\displaystyle\frac{\partial e_1}{\partial Y},\displaystyle\frac{\partial e_1}{\partial Z}\end{bmatrix}
∂[fx,fy,k1,k2,w0,w1,w2,t0,t1,t2,X,Y,Z]∂e=⎣⎢⎢⎡∂fx∂e0,∂fy∂e0,∂k1∂e0,∂k2∂e0,∂w0∂e0,∂w1∂e0,∂w2∂e0,∂t0∂e0,∂t1∂e0,∂t2∂e0,∂X∂e0,∂Y∂e0,∂Z∂e0∂fx∂e1,∂fy∂e1,∂k1∂e1,∂k2∂e1,∂w0∂e1,∂w1∂e1,∂w2∂e1,∂t0∂e1,∂t1∂e1,∂t2∂e1,∂X∂e1,∂Y∂e1,∂Z∂e1⎦⎥⎥⎤
下面求每项偏导数的具体形式。
1.关于相机内参的偏导数
∂ e 0 ∂ f x = − x ( 1 + k 1 r 2 + k 2 r 4 ) \displaystyle\frac{\partial e_0}{\partial f_x}=-x(1+k_1r^2+k_2r^4) ∂fx∂e0=−x(1+k1r2+k2r4)
∂ e 1 ∂ f x = 0 \displaystyle\frac{\partial e_1}{\partial f_x}=0 ∂fx∂e1=0
∂ e 0 ∂ f y = 0 \displaystyle\frac{\partial e_0}{\partial f_y}=0 ∂fy∂e0=0
∂ e 1 ∂ f y = − y ( 1 + k 1 r 2 + k 2 r 4 ) \displaystyle\frac{\partial e_1}{\partial f_y}=-y(1+k_1r^2+k_2r^4) ∂fy∂e1=−y(1+k1r2+k2r4)
∂ e 0 ∂ k 1 = − f x x r 2 \displaystyle\frac{\partial e_0}{\partial k_1}=-f_xxr^2 ∂k1∂e0=−fxxr2
∂ e 1 ∂ k 1 = − f y y r 2 \displaystyle\frac{\partial e_1}{\partial k_1}=-f_yyr^2 ∂k1∂e1=−fyyr2
∂ e 0 ∂ k 2 = − f x x r 4 \displaystyle\frac{\partial e_0}{\partial k_2}=-f_xxr^4 ∂k2∂e0=−fxxr4
∂ e 1 ∂ k 2 = − f y y r 4 \displaystyle\frac{\partial e_1}{\partial k_2}=-f_yyr^4 ∂k2∂e1=−fyyr4
2.关于旋转的偏导数
考虑畸变时，
e
\bf{e}
e关于旋转的偏导数形式较为复杂，故在推导之前，预先求出部分中间变量（后面的结果均会用到这几个量）：
∂
x
∂
x
′
=
1
z
′
,
∂
x
∂
y
′
=
0
,
∂
x
∂
z
′
=
−
x
′
z
′
2
∂
y
∂
x
′
=
0
,
∂
y
∂
y
′
=
1
z
′
,
∂
y
∂
z
′
=
−
y
′
z
′
2
∂
e
0
∂
x
=
−
f
x
(
1
+
k
1
r
2
+
k
2
r
4
)
−
f
x
x
(
2
k
1
x
+
4
k
2
x
r
2
)
∂
e
0
∂
y
=
−
f
x
x
(
2
k
1
y
+
4
k
2
y
r
2
)
∂
e
1
∂
x
=
−
f
y
y
(
2
k
1
x
+
4
k
2
x
r
2
)
∂
e
1
∂
y
=
−
f
y
(
1
+
k
1
r
2
+
k
2
r
4
)
−
f
y
y
(
2
k
1
y
+
4
k
2
y
r
2
)
\displaystyle\frac{\partial x}{\partial x'}=\frac{1}{z'},\displaystyle\frac{\partial x}{\partial y'}=0,\displaystyle\frac{\partial x}{\partial z'}=-\frac{x'}{z'^2}\\ \displaystyle\frac{\partial y}{\partial x'}=0,\displaystyle\frac{\partial y}{\partial y'}=\frac{1}{z'},\displaystyle\frac{\partial y}{\partial z'}=-\frac{y'}{z'^2}\\ \displaystyle\frac{\partial e_0}{\partial x}=-f_x(1+k_1r^2+k_2r^4)-f_xx(2k_1x+4k_2xr^2)\\ \displaystyle\frac{\partial e_0}{\partial y}=-f_xx(2k_1y+4k_2yr^2)\\ \displaystyle\frac{\partial e_1}{\partial x}=-f_yy(2k_1x+4k_2xr^2)\\ \displaystyle\frac{\partial e_1}{\partial y}=-f_y(1+k_1r^2+k_2r^4)-f_yy(2k_1y+4k_2yr^2)
∂x′∂x=z′1,∂y′∂x=0,∂z′∂x=−z′2x′∂x′∂y=0,∂y′∂y=z′1,∂z′∂y=−z′2y′∂x∂e0=−fx(1+k1r2+k2r4)−fxx(2k1x+4k2xr2)∂y∂e0=−fxx(2k1y+4k2yr2)∂x∂e1=−fyy(2k1x+4k2xr2)∂y∂e1=−fy(1+k1r2+k2r4)−fyy(2k1y+4k2yr2)
旋转向量
w
=
θ
n
{\bf{w}}=\theta n
w=θn,其中
θ
\theta
θ代表旋转角度，
n
n
n代表旋转轴，由罗德里格斯公式有：
R
=
cos
θ
I
+
(
1
−
cos
θ
)
n
n
T
+
sin
θ
n
∧
R=\cos\theta {\boldsymbol{I}}+(1-\cos\theta)nn^\mathrm{T}+\sin\theta n^\wedge
R=cosθI+(1−cosθ)nnT+sinθn∧
当旋转一个很小的角度时，
θ
→
0
\theta\to0
θ→0，有：
Δ
R
=
I
+
θ
n
∧
=
I
+
w
∧
=
[
1
0
0
0
1
0
0
0
1
]
+
[
0
−
w
2
w
1
w
2
0
−
w
0
−
w
1
w
0
0
]
\Delta R={\boldsymbol{I}}+\theta n^\wedge={\boldsymbol{I}}+{\bf{w}}^\wedge=\begin{bmatrix}1&0&0\\0&1&0\\0&0&1\end{bmatrix}+\begin{bmatrix}0&-w_2&w_1\\w_2&0&-w_0\\-w_1&w_0&0\end{bmatrix}
ΔR=I+θn∧=I+w∧=⎣⎡100010001⎦⎤+⎣⎡0w2−w1−w20w0w1−w00⎦⎤
记世界坐标系下空间点
p
\bf{p}
p在相机坐标系下为
p
′
\bf{p'}
p′，则
p
′
=
R
p
+
t
{\bf{p'}}=R{\bf{p}}+t
p′=Rp+t，则基于左扰动模型有：
∂
p
′
∂
w
=
lim
w
→
0
Δ
R
∗
R
p
+
t
−
R
p
−
t
w
=
lim
w
→
0
(
I
+
w
∧
)
R
p
−
R
p
w
=
lim
w
→
0
w
∧
R
p
w
=
lim
w
→
0
−
(
R
p
)
∧
w
w
=
−
(
R
p
)
∧
\begin{aligned}\displaystyle\frac{\partial\bf{p'}}{\partial \bf{w}}&=\lim\limits_{\bf{w}\to0}\displaystyle\frac{{\Delta R*R{\bf{p}}+t}-R{\bf{p}}-t}{\bf{w}} \\&=\lim\limits_{\bf{w}\to0}\displaystyle\frac{{(\boldsymbol{I}+{\bf{w}}^\wedge)R{\bf{p}}}-R{\bf{p}}}{\bf{w}} \\&=\lim\limits_{\bf{w}\to0}\displaystyle\frac{{\bf{w}}^\wedge R{\bf{p}}}{\bf{w}} =\lim\limits_{\bf{w}\to0}\displaystyle\frac{-(R{\bf{p}})^\wedge\bf{w}}{\bf{w}}=-(R\bf{p})^\wedge \end{aligned}
∂w∂p′=w→0limwΔR∗Rp+t−Rp−t=w→0limw(I+w∧)Rp−Rp=w→0limww∧Rp=w→0limw−(Rp)∧w=−(Rp)∧
p
′
=
[
x
′
y
′
z
′
]
T
\bf{p'}=\begin{bmatrix}x'&y'&z'\end{bmatrix}^\mathrm{T}
p′=[x′y′z′]T，
w
=
[
w
0
w
1
w
2
]
T
\bf{w}=\begin{bmatrix}\it{w_0}&w_1&w_2\end{bmatrix}^\mathrm{T}
w=[w0w1w2]T，记
R
R
R的行向量为
r
0
,
r
1
,
r
2
\boldsymbol{r_0},\boldsymbol{r_1},\boldsymbol{r_2}
r0,r1,r2则上式写作：
∂
[
x
′
y
′
z
′
]
T
∂
[
w
0
w
1
w
2
]
T
=
[
∂
x
′
∂
w
0
∂
x
′
∂
w
1
∂
x
′
∂
w
2
∂
y
′
∂
w
0
∂
y
′
∂
w
1
∂
y
′
∂
w
2
∂
z
′
∂
w
0
∂
z
′
∂
w
1
∂
z
′
∂
w
2
]
=
[
0
r
2
p
−
r
1
p
−
r
2
p
0
r
0
p
r
1
p
−
r
0
p
0
]
\displaystyle\frac{\partial \begin{bmatrix}x'&y'&z'\end{bmatrix}^\mathrm{T}}{\partial \begin{bmatrix}\it{w_0}&w_1&w_2\end{bmatrix}^\mathrm{T}} =\begin{bmatrix}\displaystyle\frac{\partial x'}{\partial w_0}&\displaystyle\frac{\partial x'}{\partial w_1}&\displaystyle\frac{\partial x'}{\partial w_2}\\\displaystyle\frac{\partial y'}{\partial w_0}&\displaystyle\frac{\partial y'}{\partial w_1}&\displaystyle\frac{\partial y'}{\partial w_2}\\\displaystyle\frac{\partial z'}{\partial w_0}&\displaystyle\frac{\partial z'}{\partial w_1}&\displaystyle\frac{\partial z'}{\partial w_2}\end{bmatrix} =\begin{bmatrix}0&\boldsymbol{r_2}{\bf{p}}&-\boldsymbol{r_1}{\bf{p}}\\-\boldsymbol{r_2}{\bf{p}}&0&\boldsymbol{r_0}{\bf{p}}\\\boldsymbol{r_1}{\bf{p}}&-\boldsymbol{r_0}{\bf{p}}&0\end{bmatrix}
∂[w0w1w2]T∂[x′y′z′]T=⎣⎢⎢⎢⎢⎢⎡∂w0∂x′∂w0∂y′∂w0∂z′∂w1∂x′∂w1∂y′∂w1∂z′∂w2∂x′∂w2∂y′∂w2∂z′⎦⎥⎥⎥⎥⎥⎤=⎣⎡0−r2pr1pr2p0−r0p−r1pr0p0⎦⎤
归一化平面坐标
[
x
y
]
T
\begin{bmatrix}x&y\end{bmatrix}^\mathrm{T}
[xy]T是关于
p
′
\bf{p'}
p′的函数，由链式求导有：
∂
e
0
∂
w
0
=
∂
e
0
∂
x
(
∂
x
∂
x
′
∂
x
′
∂
w
0
+
∂
x
∂
y
′
∂
y
′
∂
w
0
+
∂
x
∂
z
′
∂
z
′
∂
w
0
)
+
∂
e
0
∂
y
(
∂
y
∂
x
′
∂
x
′
∂
w
0
+
∂
y
∂
y
′
∂
y
′
∂
w
0
+
∂
y
∂
z
′
∂
z
′
∂
w
0
)
=
∂
e
0
∂
x
∂
x
∂
z
′
∂
z
′
∂
w
0
+
∂
e
0
∂
y
(
∂
y
∂
y
′
∂
y
′
∂
w
0
+
∂
y
∂
z
′
∂
z
′
∂
w
0
)
\begin{aligned} \displaystyle\frac{\partial e_0}{\partial w_0}&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial w_0}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial w_0}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial w_0})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial w_0}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial w_0}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial w_0}) \\&=\displaystyle\frac{\partial e_0}{\partial x}\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial w_0}+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial w_0}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial w_0}) \end{aligned}
∂w0∂e0=∂x∂e0(∂x′∂x∂w0∂x′+∂y′∂x∂w0∂y′+∂z′∂x∂w0∂z′)+∂y∂e0(∂x′∂y∂w0∂x′+∂y′∂y∂w0∂y′+∂z′∂y∂w0∂z′)=∂x∂e0∂z′∂x∂w0∂z′+∂y∂e0(∂y′∂y∂w0∂y′+∂z′∂y∂w0∂z′)
∂ e 0 ∂ w 1 = ∂ e 0 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ w 1 + ∂ x ∂ y ′ ∂ y ′ ∂ w 1 + ∂ x ∂ z ′ ∂ z ′ ∂ w 1 ) + ∂ e 0 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ w 1 + ∂ y ∂ y ′ ∂ y ′ ∂ w 1 + ∂ y ∂ z ′ ∂ z ′ ∂ w 1 ) = ∂ e 0 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ w 1 + ∂ x ∂ z ′ ∂ z ′ ∂ w 1 ) + ∂ e 0 ∂ y ∂ y ∂ z ′ ∂ z ′ ∂ w 1 \begin{aligned} \displaystyle\frac{\partial e_0}{\partial w_1}&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial w_1}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial w_1}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial w_1})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial w_1}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial w_1}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial w_1}) \\&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial w_1}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial w_1})+ \displaystyle\frac{\partial e_0}{\partial y}\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial w_1} \end{aligned} ∂w1∂e0=∂x∂e0(∂x′∂x∂w1∂x′+∂y′∂x∂w1∂y′+∂z′∂x∂w1∂z′)+∂y∂e0(∂x′∂y∂w1∂x′+∂y′∂y∂w1∂y′+∂z′∂y∂w1∂z′)=∂x∂e0(∂x′∂x∂w1∂x′+∂z′∂x∂w1∂z′)+∂y∂e0∂z′∂y∂w1∂z′
∂ e 0 ∂ w 2 = ∂ e 0 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ w 2 + ∂ x ∂ y ′ ∂ y ′ ∂ w 2 + ∂ x ∂ z ′ ∂ z ′ ∂ w 2 ) + ∂ e 0 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ w 2 + ∂ y ∂ y ′ ∂ y ′ ∂ w 2 + ∂ y ∂ z ′ ∂ z ′ ∂ w 2 ) = ∂ e 0 ∂ x ∂ x ∂ x ′ ∂ x ′ ∂ w 2 + ∂ e 0 ∂ y ∂ y ∂ y ′ ∂ y ′ ∂ w 2 \begin{aligned} \displaystyle\frac{\partial e_0}{\partial w_2}&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial w_2}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial w_2}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial w_2})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial w_2}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial w_2}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial w_2}) \\&=\displaystyle\frac{\partial e_0}{\partial x}\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial w_2}+ \displaystyle\frac{\partial e_0}{\partial y}\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial w_2} \end{aligned} ∂w2∂e0=∂x∂e0(∂x′∂x∂w2∂x′+∂y′∂x∂w2∂y′+∂z′∂x∂w2∂z′)+∂y∂e0(∂x′∂y∂w2∂x′+∂y′∂y∂w2∂y′+∂z′∂y∂w2∂z′)=∂x∂e0∂x′∂x∂w2∂x′+∂y∂e0∂y′∂y∂w2∂y′
∂ e 1 ∂ w 0 = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ w 0 + ∂ x ∂ y ′ ∂ y ′ ∂ w 0 + ∂ x ∂ z ′ ∂ z ′ ∂ w 0 ) + ∂ e 1 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ w 0 + ∂ y ∂ y ′ ∂ y ′ ∂ w 0 + ∂ y ∂ z ′ ∂ z ′ ∂ w 0 ) = ∂ e 1 ∂ x ∂ x ∂ z ′ ∂ z ′ ∂ w 0 + ∂ e 1 ∂ y ( ∂ y ∂ y ′ ∂ y ′ ∂ w 0 + ∂ y ∂ z ′ ∂ z ′ ∂ w 0 ) \begin{aligned} \displaystyle\frac{\partial e_1}{\partial w_0}&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial w_0}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial w_0}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial w_0})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial w_0}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial w_0}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial w_0}) \\&=\displaystyle\frac{\partial e_1}{\partial x}\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial w_0}+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial w_0}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial w_0}) \end{aligned} ∂w0∂e1=∂x∂e1(∂x′∂x∂w0∂x′+∂y′∂x∂w0∂y′+∂z′∂x∂w0∂z′)+∂y∂e1(∂x′∂y∂w0∂x′+∂y′∂y∂w0∂y′+∂z′∂y∂w0∂z′)=∂x∂e1∂z′∂x∂w0∂z′+∂y∂e1(∂y′∂y∂w0∂y′+∂z′∂y∂w0∂z′)
∂ e 1 ∂ w 1 = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ w 1 + ∂ x ∂ y ′ ∂ y ′ ∂ w 1 + ∂ x ∂ z ′ ∂ z ′ ∂ w 1 ) + ∂ e 1 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ w 1 + ∂ y ∂ y ′ ∂ y ′ ∂ w 1 + ∂ y ∂ z ′ ∂ z ′ ∂ w 1 ) = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ w 1 + ∂ x ∂ z ′ ∂ z ′ ∂ w 1 ) + ∂ e 1 ∂ y ∂ y ∂ z ′ ∂ z ′ ∂ w 1 \begin{aligned} \displaystyle\frac{\partial e_1}{\partial w_1}&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial w_1}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial w_1}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial w_1})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial w_1}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial w_1}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial w_1}) \\&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial w_1}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial w_1})+ \displaystyle\frac{\partial e_1}{\partial y}\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial w_1} \end{aligned} ∂w1∂e1=∂x∂e1(∂x′∂x∂w1∂x′+∂y′∂x∂w1∂y′+∂z′∂x∂w1∂z′)+∂y∂e1(∂x′∂y∂w1∂x′+∂y′∂y∂w1∂y′+∂z′∂y∂w1∂z′)=∂x∂e1(∂x′∂x∂w1∂x′+∂z′∂x∂w1∂z′)+∂y∂e1∂z′∂y∂w1∂z′
∂ e 1 ∂ w 2 = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ w 2 + ∂ x ∂ y ′ ∂ y ′ ∂ w 2 + ∂ x ∂ z ′ ∂ z ′ ∂ w 2 ) + ∂ e 1 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ w 2 + ∂ y ∂ y ′ ∂ y ′ ∂ w 2 + ∂ y ∂ z ′ ∂ z ′ ∂ w 2 ) = ∂ e 1 ∂ x ∂ x ∂ x ′ ∂ x ′ ∂ w 2 + ∂ e 1 ∂ y ∂ y ∂ y ′ ∂ y ′ ∂ w 2 \begin{aligned} \displaystyle\frac{\partial e_1}{\partial w_2}&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial w_2}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial w_2}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial w_2})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial w_2}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial w_2}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial w_2}) \\&=\displaystyle\frac{\partial e_1}{\partial x}\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial w_2}+ \displaystyle\frac{\partial e_1}{\partial y}\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial w_2} \end{aligned} ∂w2∂e1=∂x∂e1(∂x′∂x∂w2∂x′+∂y′∂x∂w2∂y′+∂z′∂x∂w2∂z′)+∂y∂e1(∂x′∂y∂w2∂x′+∂y′∂y∂w2∂y′+∂z′∂y∂w2∂z′)=∂x∂e1∂x′∂x∂w2∂x′+∂y∂e1∂y′∂y∂w2∂y′
3.关于平移的偏导数
由
p
′
=
R
p
+
t
{\bf{p'}}=R{\bf{p}}+t
p′=Rp+t，即：
[
x
′
y
′
z
′
]
=
[
r
0
p
+
t
0
r
1
p
+
t
1
r
2
p
+
t
2
]
\begin{bmatrix} x'\\y'\\z'\end{bmatrix}=\begin{bmatrix}\boldsymbol{r_0}{\bf{p}}+t_0\\\boldsymbol{r_1}{\bf{p}}+t_1\\\boldsymbol{r_2}{\bf{p}}+t_2\end{bmatrix}
⎣⎡x′y′z′⎦⎤=⎣⎡r0p+t0r1p+t1r2p+t2⎦⎤
故有：
∂
x
′
∂
t
0
=
1
,
∂
y
′
∂
t
1
=
1
,
∂
z
′
∂
t
2
=
1
\displaystyle\frac{\partial x'}{\partial t_0}=1,\displaystyle\frac{\partial y'}{\partial t_1}=1,\displaystyle\frac{\partial z'}{\partial t_2}=1
∂t0∂x′=1,∂t1∂y′=1,∂t2∂z′=1
同样地，由链式求导有：
∂
e
0
∂
t
0
=
∂
e
0
∂
x
(
∂
x
∂
x
′
∂
x
′
∂
t
0
+
∂
x
∂
y
′
∂
y
′
∂
t
0
+
∂
x
∂
z
′
∂
z
′
∂
t
0
)
+
∂
e
0
∂
y
(
∂
y
∂
x
′
∂
x
′
∂
t
0
+
∂
y
∂
y
′
∂
y
′
∂
t
0
+
∂
y
∂
z
′
∂
z
′
∂
t
0
)
=
∂
e
0
∂
x
∂
x
∂
x
′
\begin{aligned} \displaystyle\frac{\partial e_0}{\partial t_0}&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial t_0}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial t_0}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial t_0})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial t_0}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial t_0}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial t_0}) \\&=\displaystyle\frac{\partial e_0}{\partial x}\displaystyle\frac{\partial x}{\partial x'} \end{aligned}
∂t0∂e0=∂x∂e0(∂x′∂x∂t0∂x′+∂y′∂x∂t0∂y′+∂z′∂x∂t0∂z′)+∂y∂e0(∂x′∂y∂t0∂x′+∂y′∂y∂t0∂y′+∂z′∂y∂t0∂z′)=∂x∂e0∂x′∂x
∂ e 0 ∂ t 1 = ∂ e 0 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ t 1 + ∂ x ∂ y ′ ∂ y ′ ∂ t 1 + ∂ x ∂ z ′ ∂ z ′ ∂ t 1 ) + ∂ e 0 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ t 1 + ∂ y ∂ y ′ ∂ y ′ ∂ t 1 + ∂ y ∂ z ′ ∂ z ′ ∂ t 1 ) = ∂ e 0 ∂ y ∂ y ∂ y ′ \begin{aligned} \displaystyle\frac{\partial e_0}{\partial t_1}&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial t_1}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial t_1}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial t_1})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial t_1}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial t_1}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial t_1}) \\&=\displaystyle\frac{\partial e_0}{\partial y}\displaystyle\frac{\partial y}{\partial y'} \end{aligned} ∂t1∂e0=∂x∂e0(∂x′∂x∂t1∂x′+∂y′∂x∂t1∂y′+∂z′∂x∂t1∂z′)+∂y∂e0(∂x′∂y∂t1∂x′+∂y′∂y∂t1∂y′+∂z′∂y∂t1∂z′)=∂y∂e0∂y′∂y
∂ e 0 ∂ t 2 = ∂ e 0 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ t 2 + ∂ x ∂ y ′ ∂ y ′ ∂ t 2 + ∂ x ∂ z ′ ∂ z ′ ∂ t 2 ) + ∂ e 0 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ t 2 + ∂ y ∂ y ′ ∂ y ′ ∂ t 2 + ∂ y ∂ z ′ ∂ z ′ ∂ t 2 ) = ∂ e 0 ∂ x ∂ x ∂ z ′ + ∂ e 0 ∂ y ∂ y ∂ z ′ \begin{aligned} \displaystyle\frac{\partial e_0}{\partial t_2}&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial t_2}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial t_2}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial t_2})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial t_2}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial t_2}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial t_2}) \\&=\displaystyle\frac{\partial e_0}{\partial x}\displaystyle\frac{\partial x}{\partial z'}+\displaystyle\frac{\partial e_0}{\partial y}\displaystyle\frac{\partial y}{\partial z'} \end{aligned} ∂t2∂e0=∂x∂e0(∂x′∂x∂t2∂x′+∂y′∂x∂t2∂y′+∂z′∂x∂t2∂z′)+∂y∂e0(∂x′∂y∂t2∂x′+∂y′∂y∂t2∂y′+∂z′∂y∂t2∂z′)=∂x∂e0∂z′∂x+∂y∂e0∂z′∂y
∂ e 1 ∂ t 0 = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ t 0 + ∂ x ∂ y ′ ∂ y ′ ∂ t 0 + ∂ x ∂ z ′ ∂ z ′ ∂ t 0 ) + ∂ e 1 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ t 0 + ∂ y ∂ y ′ ∂ y ′ ∂ t 0 + ∂ y ∂ z ′ ∂ z ′ ∂ t 0 ) = ∂ e 1 ∂ x ∂ x ∂ x ′ \begin{aligned} \displaystyle\frac{\partial e_1}{\partial t_0}&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial t_0}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial t_0}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial t_0})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial t_0}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial t_0}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial t_0}) \\&=\displaystyle\frac{\partial e_1}{\partial x}\displaystyle\frac{\partial x}{\partial x'} \end{aligned} ∂t0∂e1=∂x∂e1(∂x′∂x∂t0∂x′+∂y′∂x∂t0∂y′+∂z′∂x∂t0∂z′)+∂y∂e1(∂x′∂y∂t0∂x′+∂y′∂y∂t0∂y′+∂z′∂y∂t0∂z′)=∂x∂e1∂x′∂x
∂ e 1 ∂ t 1 = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ t 1 + ∂ x ∂ y ′ ∂ y ′ ∂ t 1 + ∂ x ∂ z ′ ∂ z ′ ∂ t 1 ) + ∂ e 1 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ t 1 + ∂ y ∂ y ′ ∂ y ′ ∂ t 1 + ∂ y ∂ z ′ ∂ z ′ ∂ t 1 ) = ∂ e 0 ∂ y ∂ y ∂ y ′ \begin{aligned} \displaystyle\frac{\partial e_1}{\partial t_1}&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial t_1}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial t_1}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial t_1})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial t_1}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial t_1}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial t_1}) \\&=\displaystyle\frac{\partial e_0}{\partial y}\displaystyle\frac{\partial y}{\partial y'} \end{aligned} ∂t1∂e1=∂x∂e1(∂x′∂x∂t1∂x′+∂y′∂x∂t1∂y′+∂z′∂x∂t1∂z′)+∂y∂e1(∂x′∂y∂t1∂x′+∂y′∂y∂t1∂y′+∂z′∂y∂t1∂z′)=∂y∂e0∂y′∂y
∂ e 1 ∂ t 2 = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ t 2 + ∂ x ∂ y ′ ∂ y ′ ∂ t 2 + ∂ x ∂ z ′ ∂ z ′ ∂ t 2 ) + ∂ e 1 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ t 2 + ∂ y ∂ y ′ ∂ y ′ ∂ t 2 + ∂ y ∂ z ′ ∂ z ′ ∂ t 2 ) = ∂ e 1 ∂ x ∂ x ∂ z ′ + ∂ e 1 ∂ y ∂ y ∂ z ′ \begin{aligned} \displaystyle\frac{\partial e_1}{\partial t_2}&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial t_2}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial t_2}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial t_2})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial t_2}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial t_2}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial t_2}) \\&=\displaystyle\frac{\partial e_1}{\partial x}\displaystyle\frac{\partial x}{\partial z'}+\displaystyle\frac{\partial e_1}{\partial y}\displaystyle\frac{\partial y}{\partial z'} \end{aligned} ∂t2∂e1=∂x∂e1(∂x′∂x∂t2∂x′+∂y′∂x∂t2∂y′+∂z′∂x∂t2∂z′)+∂y∂e1(∂x′∂y∂t2∂x′+∂y′∂y∂t2∂y′+∂z′∂y∂t2∂z′)=∂x∂e1∂z′∂x+∂y∂e1∂z′∂y
4.关于空间点的偏导数
由
p
′
=
R
p
+
t
{\bf{p'}}=R{\bf{p}}+t
p′=Rp+t，即：
[
x
′
y
′
z
′
]
=
[
R
00
R
01
R
02
R
10
R
11
R
12
R
20
R
21
R
22
]
[
X
Y
Z
]
+
[
t
0
t
1
t
2
]
\begin{bmatrix}x'\\y'\\z'\end{bmatrix}=\begin{bmatrix}R_{00}&R_{01}&R_{02}\\R_{10}&R_{11}&R_{12}\\R_{20}&R_{21}&R_{22}\end{bmatrix}\begin{bmatrix}X\\Y\\Z\end{bmatrix}+\begin{bmatrix}t_0\\t_1\\t_2\end{bmatrix}
⎣⎡x′y′z′⎦⎤=⎣⎡R00R10R20R01R11R21R02R12R22⎦⎤⎣⎡XYZ⎦⎤+⎣⎡t0t1t2⎦⎤
故有：
∂
x
′
∂
X
=
R
00
,
∂
x
′
∂
Y
=
R
01
,
∂
x
′
∂
Z
=
R
02
∂
y
′
∂
X
=
R
10
,
∂
y
′
∂
Y
=
R
11
,
∂
y
′
∂
Z
=
R
12
∂
z
′
∂
X
=
R
20
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∂
z
′
∂
Y
=
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21
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∂
z
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∂
Z
=
R
22
\displaystyle\frac{\partial x'}{\partial X}=R_{00},\displaystyle\frac{\partial x'}{\partial Y}=R_{01},\displaystyle\frac{\partial x'}{\partial Z}=R_{02}\\ \displaystyle\frac{\partial y'}{\partial X}=R_{10},\displaystyle\frac{\partial y'}{\partial Y}=R_{11},\displaystyle\frac{\partial y'}{\partial Z}=R_{12}\\ \displaystyle\frac{\partial z'}{\partial X}=R_{20},\displaystyle\frac{\partial z'}{\partial Y}=R_{21},\displaystyle\frac{\partial z'}{\partial Z}=R_{22}
∂X∂x′=R00,∂Y∂x′=R01,∂Z∂x′=R02∂X∂y′=R10,∂Y∂y′=R11,∂Z∂y′=R12∂X∂z′=R20,∂Y∂z′=R21,∂Z∂z′=R22
同样地，由链式求导有：
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\begin{aligned} \displaystyle\frac{\partial e_0}{\partial X}&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial X}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial X}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial X})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial X}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial X}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial X}) \\&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial X}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial X})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial X}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial X}) \end{aligned}
∂X∂e0=∂x∂e0(∂x′∂x∂X∂x′+∂y′∂x∂X∂y′+∂z′∂x∂X∂z′)+∂y∂e0(∂x′∂y∂X∂x′+∂y′∂y∂X∂y′+∂z′∂y∂X∂z′)=∂x∂e0(∂x′∂x∂X∂x′+∂z′∂x∂X∂z′)+∂y∂e0(∂y′∂y∂X∂y′+∂z′∂y∂X∂z′)
∂ e 0 ∂ Y = ∂ e 0 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ Y + ∂ x ∂ y ′ ∂ y ′ ∂ Y + ∂ x ∂ z ′ ∂ z ′ ∂ Y ) + ∂ e 0 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ Y + ∂ y ∂ y ′ ∂ y ′ ∂ Y + ∂ y ∂ z ′ ∂ z ′ ∂ Y ) = ∂ e 0 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ Y + ∂ x ∂ z ′ ∂ z ′ ∂ Y ) + ∂ e 0 ∂ y ( ∂ y ∂ y ′ ∂ y ′ ∂ Y + ∂ y ∂ z ′ ∂ z ′ ∂ Y ) \begin{aligned} \displaystyle\frac{\partial e_0}{\partial Y}&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial Y}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial Y}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial Y})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial Y}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial Y}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial Y}) \\&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial Y}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial Y})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial Y}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial Y}) \end{aligned} ∂Y∂e0=∂x∂e0(∂x′∂x∂Y∂x′+∂y′∂x∂Y∂y′+∂z′∂x∂Y∂z′)+∂y∂e0(∂x′∂y∂Y∂x′+∂y′∂y∂Y∂y′+∂z′∂y∂Y∂z′)=∂x∂e0(∂x′∂x∂Y∂x′+∂z′∂x∂Y∂z′)+∂y∂e0(∂y′∂y∂Y∂y′+∂z′∂y∂Y∂z′)
∂ e 0 ∂ Z = ∂ e 0 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ Z + ∂ x ∂ y ′ ∂ y ′ ∂ Z + ∂ x ∂ z ′ ∂ z ′ ∂ Z ) + ∂ e 0 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ Z + ∂ y ∂ y ′ ∂ y ′ ∂ Z + ∂ y ∂ z ′ ∂ z ′ ∂ Z ) = ∂ e 0 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ Z + ∂ x ∂ z ′ ∂ z ′ ∂ Z ) + ∂ e 0 ∂ y ( ∂ y ∂ y ′ ∂ y ′ ∂ Z + ∂ y ∂ z ′ ∂ z ′ ∂ Z ) \begin{aligned} \displaystyle\frac{\partial e_0}{\partial Z}&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial Z}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial Z}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial Z})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial Z}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial Z}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial Z}) \\&=\displaystyle\frac{\partial e_0}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial Z}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial Z})+ \displaystyle\frac{\partial e_0}{\partial y}(\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial Z}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial Z}) \end{aligned} ∂Z∂e0=∂x∂e0(∂x′∂x∂Z∂x′+∂y′∂x∂Z∂y′+∂z′∂x∂Z∂z′)+∂y∂e0(∂x′∂y∂Z∂x′+∂y′∂y∂Z∂y′+∂z′∂y∂Z∂z′)=∂x∂e0(∂x′∂x∂Z∂x′+∂z′∂x∂Z∂z′)+∂y∂e0(∂y′∂y∂Z∂y′+∂z′∂y∂Z∂z′)
∂ e 1 ∂ X = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ X + ∂ x ∂ y ′ ∂ y ′ ∂ X + ∂ x ∂ z ′ ∂ z ′ ∂ X ) + ∂ e 1 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ X + ∂ y ∂ y ′ ∂ y ′ ∂ X + ∂ y ∂ z ′ ∂ z ′ ∂ X ) = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ X + ∂ x ∂ z ′ ∂ z ′ ∂ X ) + ∂ e 1 ∂ y ( ∂ y ∂ y ′ ∂ y ′ ∂ X + ∂ y ∂ z ′ ∂ z ′ ∂ X ) \begin{aligned} \displaystyle\frac{\partial e_1}{\partial X}&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial X}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial X}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial X})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial X}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial X}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial X}) \\&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial X}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial X})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial X}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial X}) \end{aligned} ∂X∂e1=∂x∂e1(∂x′∂x∂X∂x′+∂y′∂x∂X∂y′+∂z′∂x∂X∂z′)+∂y∂e1(∂x′∂y∂X∂x′+∂y′∂y∂X∂y′+∂z′∂y∂X∂z′)=∂x∂e1(∂x′∂x∂X∂x′+∂z′∂x∂X∂z′)+∂y∂e1(∂y′∂y∂X∂y′+∂z′∂y∂X∂z′)
∂ e 1 ∂ Y = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ Y + ∂ x ∂ y ′ ∂ y ′ ∂ Y + ∂ x ∂ z ′ ∂ z ′ ∂ Y ) + ∂ e 1 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ Y + ∂ y ∂ y ′ ∂ y ′ ∂ Y + ∂ y ∂ z ′ ∂ z ′ ∂ Y ) = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ Y + ∂ x ∂ z ′ ∂ z ′ ∂ Y ) + ∂ e 1 ∂ y ( ∂ y ∂ y ′ ∂ y ′ ∂ Y + ∂ y ∂ z ′ ∂ z ′ ∂ Y ) \begin{aligned} \displaystyle\frac{\partial e_1}{\partial Y}&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial Y}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial Y}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial Y})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial Y}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial Y}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial Y}) \\&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial Y}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial Y})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial Y}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial Y}) \end{aligned} ∂Y∂e1=∂x∂e1(∂x′∂x∂Y∂x′+∂y′∂x∂Y∂y′+∂z′∂x∂Y∂z′)+∂y∂e1(∂x′∂y∂Y∂x′+∂y′∂y∂Y∂y′+∂z′∂y∂Y∂z′)=∂x∂e1(∂x′∂x∂Y∂x′+∂z′∂x∂Y∂z′)+∂y∂e1(∂y′∂y∂Y∂y′+∂z′∂y∂Y∂z′)
∂ e 1 ∂ Z = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ Z + ∂ x ∂ y ′ ∂ y ′ ∂ Z + ∂ x ∂ z ′ ∂ z ′ ∂ Z ) + ∂ e 1 ∂ y ( ∂ y ∂ x ′ ∂ x ′ ∂ Z + ∂ y ∂ y ′ ∂ y ′ ∂ Z + ∂ y ∂ z ′ ∂ z ′ ∂ Z ) = ∂ e 1 ∂ x ( ∂ x ∂ x ′ ∂ x ′ ∂ Z + ∂ x ∂ z ′ ∂ z ′ ∂ Z ) + ∂ e 1 ∂ y ( ∂ y ∂ y ′ ∂ y ′ ∂ Z + ∂ y ∂ z ′ ∂ z ′ ∂ Z ) \begin{aligned} \displaystyle\frac{\partial e_1}{\partial Z}&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial Z}+\displaystyle\frac{\partial x}{\partial y'}\frac{\partial y'}{\partial Z}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial Z})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial x'}\frac{\partial x'}{\partial Z}+\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial Z}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial Z}) \\&=\displaystyle\frac{\partial e_1}{\partial x}(\displaystyle\frac{\partial x}{\partial x'}\frac{\partial x'}{\partial Z}+\displaystyle\frac{\partial x}{\partial z'}\frac{\partial z'}{\partial Z})+ \displaystyle\frac{\partial e_1}{\partial y}(\displaystyle\frac{\partial y}{\partial y'}\frac{\partial y'}{\partial Z}+\displaystyle\frac{\partial y}{\partial z'}\frac{\partial z'}{\partial Z}) \end{aligned} ∂Z∂e1=∂x∂e1(∂x′∂x∂Z∂x′+∂y′∂x∂Z∂y′+∂z′∂x∂Z∂z′)+∂y∂e1(∂x′∂y∂Z∂x′+∂y′∂y∂Z∂y′+∂z′∂y∂Z∂z′)=∂x∂e1(∂x′∂x∂Z∂x′+∂z′∂x∂Z∂z′)+∂y∂e1(∂y′∂y∂Z∂y′+∂z′∂y∂Z∂z′)
至此，雅可比矩阵中各项已给出。
参考：https://zhuanlan.zhihu.com/p/44651602
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