owl_lie_algebra_meme.tex

% Totally not inspired by LSD-SLAM https://vision.in.tum.de/_media/spezial/bib/engel14eccv.pdf
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A 3D rigid body transform, $\mathbf{G} \in SE(3)$ :
\begin{flalign*}
	&\mathbf{G} = 
		\begin{bmatrix}
    	\mathbf{R} & \mathbf{t}\\
        	\mathbf{0} & 1
		\end{bmatrix}
\end{flalign*}
where $\mathbf{R} \in SO(3)$. 
During optimization, \\
a minimal representation is given by \\
$\mathbf{\xi} \in \mathit{se}(3)$ of the associated lie algebra.\\  
oh btw, log map is bla.\\
exp map is blabla.
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