costPnPandL2L.m

%{
 * Copyright (C) 2013-2025, The Regents of The University of Michigan.
 * All rights reserved.
 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
 * be available under alternative licensing terms; contact the address above.
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 * modification, are permitted provided that the following conditions are met:
 * 1. Redistributions of source code must retain the above copyright notice, this
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
 %}


function cost = costPnPandL2L(theta_x, theta_y, theta_z, T, lidar_target, camera_target, intrinsic)
    H = eye(4);
    H(1:3,1:3) = rotx(theta_x) * roty(theta_y) * rotz(theta_z);
    H(1:3,4) = T';
    P = intrinsic * [eye(3) zeros(3,1)] * H;
    cost = compare3D2DLines(lidar_target.lidar_target.lines, camera_target.camera_target.lines, P) + ...
           verifyCornerAccuracy(lidar_target.X_train, camera_target.Y_train, P);
%     cost = compare3D2DLines(lidar_target.lidar_target.lines, camera_target.camera_target.lines, P);
%     cost = verifyCornerAccuracy(lidar_target.X_train, camera_target.Y_train, P);   
end