regulizedFineTuneEachLiDARTagPose.m

%{
 * Copyright (C) 2013-2020, The Regents of The University of Michigan.
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 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}

function X = regulizedFineTuneEachLiDARTagPose(tag_size, X, Y, H_LT, P, display)
    theta_x = optimvar('theta_x', 1, 1,'LowerBound',-5,'UpperBound',5); % 1x1
    theta_y = optimvar('theta_y', 1, 1,'LowerBound',-5,'UpperBound',5); % 1x1
    theta_z = optimvar('theta_z', 1, 1,'LowerBound',-5,'UpperBound',5); % 1x1
    T = optimvar('T', 1, 3,'LowerBound',-0.1,'UpperBound',0.1);
    prob = optimproblem;
    f = fcn2optimexpr(@regulizedCostOfFineTuneLiDARTagPose, theta_x, theta_y, theta_z, T, ...
                     X,  Y, H_LT, P, tag_size);
    prob.Objective = f;
    x0.theta_x = 0;
    x0.theta_y = 0;
    x0.theta_z = 0;
    x0.T = [0 0 0];           

    options = optimoptions('fmincon', 'MaxIter',5e2, 'Display','off', ...
                           'TolX', 1e-12, 'FunctionTolerance', 1e-8, ...
                           'MaxFunctionEvaluations', 3e4, 'StepTolerance', 1e-20);
    [sol, fval, ~, ~] = solve(prob, x0, 'Options', options);
    R_final = rotx(sol.theta_x) * roty(sol.theta_y) * rotz(sol.theta_z);
    H_fine_tune = eye(4);
    H_fine_tune(1:3, 1:3) = R_final;
    H_fine_tune(1:3, 4) = sol.T';

    if checkDisplay(display)
        disp('new H_LT: ')
        disp(H_fine_tune)
        disp('cost:')
        disp(fval)
    end
    X = H_fine_tune * X;
end