def METHOD_NAME(c):
    t_cost = 0
    for observation, (t, R) in zip(observations, cameras):
        d = R.dot(observation)
        term_1 = norm(c - t) ** 2
        term_2 = (norm((c - t).dot(d)) ** 2) / (norm(d) ** 2)
        t_cost += term_1 - term_2
    return t_cost