CRITICAL: Now publishing camera in world frame. before it was the opposite.

svo/src/frame_handler_mono.cpp

@@ -91,7 +91,7 @@ void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame)
 
 FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame()
 {
-  new_frame_->T_f_w_ = T_f_w_init_;
+  new_frame_->T_f_w_ = SE3(Matrix3d::Identity(), Vector3d::Zero());
   if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE)
     return RESULT_NO_KEYFRAME;
   new_frame_->setKeyframe();