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  • $\begingroup$ The statement entered the mainstream of physics in CWZ. $\endgroup$
    – Cosmas Zachos
    Commented Nov 15, 2021 at 23:19
  • $\begingroup$ You are asking for a proof the the CBH map $(\xi',\theta ')\mapsto (\xi,\theta)$ is invertible, right? $\endgroup$
    – Cosmas Zachos
    Commented Nov 15, 2021 at 23:39
  • $\begingroup$ Or that $(\xi', \theta') \rightarrow G$ is surjective, I think. $\endgroup$
    – Martin Johnsrud
    Commented Nov 16, 2021 at 6:38
  • $\begingroup$ Right. But this is a strictly math question, best covered in the MSE. If you've got the stomach for it, you ought to go through Fulton & Harris. $\endgroup$
    – Cosmas Zachos
    Commented Nov 16, 2021 at 14:21