function coords = hnorm(homcoords)% DEVELOPMENT PHASE%% homogen normalisation: (xu, yu, u) -> (x, y) or (xu, yu, zu, u) -> (x, y, z)% coords ... n x 3 (coplanar) or n x 4 (3D)[n m] = size(homcoords);coords = homcoords(:, [1 : m - 1]) ./ (homcoords(:, m) * ones(1, m - 1));