**Low priority** (covered in Tim's book, could make it more accessible) - [ ] Explain Lie groups at a very high level w/ diagrams. - [ ] The advantages of the Lie group perspective for optimizing transformations. ("Why shouldn't I just use Eigen's [Geometry](http://eigen.tuxfamily.org/dox/group__Geometry__Module.html) module".) - [ ] It currently supports 3D problems: SO(3) and SE(3).
Low priority (covered in Tim's book, could make it more accessible)