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Hey! I was in your shoes a couple months ago! The YouTube video that the_remainder posted is how I wrapped my mind around lie algebra, but in order for me to be able to use it effectively took going through the relevant chapter in the slambook (https://github.com/gaoxiang12/slambook-en)
Personally I followed along the text implementing things using symforce (https://symforce.org/) instead of Sophus.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.
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