Y.L. Duan issues

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                                            Y.L. Duan

Complie ERROR

### when compiling project with Ubuntu 16.04, CUDA 9.0 and NVIDIA drivers 396.54, I encounter problems: /home/SENSETIME/duanyongli/Software/ICPCUDA/third-party/Eigen/Eigen/src/Core/MathFunctions.h(1328): warning: calling a __host__ function from a __host__ __device__ function is not allowed...

What's the mean of world_to_camera?

Thanks for your nice work! I wonder the meaning of [world_to_camera](https://github.com/ros-industrial/yak/blob/devel/yak/src/yak_server.cpp#L15). To put it bluntly, whether world_to_camera transform a point in camera frame to world frame, or vice versa. If...