get4Corners.m

%{
 * Copyright (C) 2020-2030, 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.
 * Redistribution and use in source and binary forms, with or without
 * 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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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}


function [LiDARTag, AprilTag] = get4Corners(opt, mat_file_path, bagfile, target_len, pc_iter, num_scan)
    pc = loadPointCloud(mat_file_path, bagfile);
    X = getPayload(pc, pc_iter, num_scan);
    
    % cost
    opt = optimizeCost(opt, X, target_len);
    target_lidar = [0 -target_len/2 -target_len/2 1;
                    0 -target_len/2  target_len/2 1;
                    0  target_len/2  target_len/2 1;
                    0  target_len/2 -target_len/2 1]';
    LiDARTag.corners = inv(opt.H_opt) * target_lidar;
    LiDARTag.corners = sortrows(LiDARTag.corners', 3, 'descend')';
    LiDARTag.four_corners_line = point3DToLineForDrawing(LiDARTag.corners);
    LiDARTag.points = X;

%             HCamera = getAprilTagPose(app, app.image_num);
    AprilTag.corners = getAprilTagCorners(bagfile);
%             AprilTag.undistorted_corners = getApriltagUndistortedCorners(app, AprilTag.corners);
    AprilTag.four_corners_line = [];
end