RefineSensorModel

I am new to OTB, and trying to follow https://www.orfeo-toolbox.org/CookBook/recipes/residual_registration.html?highlight=registration for registration. When I tried to run RefineSensorModel, an error occurred:

2019-09-20 07:03:12 (FATAL): itk::ERROR: SensorModelAdapter(0x25267c0): ForwardTransformPoint(): Invalid sensor model (m_SensorModel pointer is null)

The command I ran was

$ otbcli_RefineSensorModel -ingeom slave.geom -outgeom refined_slave.geom -inpoints homologous_points.txt.

Input data files are in inputs.zip (481.0 KB)

Please advise. Thanks!