function r = intensityRLFun(x,y, yaw,pitch,t)
    R_xyz= rotz(yaw,'deg')*rotx(pitch,'deg'); 
    n = R_xyz*[0 0 -1]';
    rpos = [x y];
    padding = 0.3;
    t = 0;
    ints = get_intensity(rpos,t,padding,n);
    if ints(1)< 0
         r = -10;
        return 
    end
    r = log10(ints(1));
end