The reason is that real_points_in_image is the position vector wrt world frame, and C is the translational vector from camera to world.
I think the correct computation should simply be
t_ has the same magnitude as C but just an opposite sign (and transpose).
The code runs without an error , but the dense mapping doesn't work so well...
I am suspecting that the following calculation is wrong in distances_interval function in DenseMapping.cpp:
The reason is that real_points_in_image is the position vector wrt world frame, and C is the translational vector from camera to world. I think the correct computation should simply be
t_ has the same magnitude as C but just an opposite sign (and transpose). The code runs without an error , but the dense mapping doesn't work so well...