% HOMOTRANS - homogeneous transformation of points%% Function to perform a transformation on homogeneous points/lines% The resulting points are normalised to have a homogeneous scale of 1%% Usage:%           t = homoTrans(P,v);%% Arguments:%           P  - 3 x 3 or 4 x 4 transformation matrix%           v  - 3 x n or 4 x n matrix of points/lines%  Peter Kovesi%  School of Computer Science & Software Engineering%  The University of Western Australia%  pk @ csse uwa edu au%  http://www.csse.uwa.edu.au/~pk%%  April 2000%  September 2007function t = homotrans(P,v);        [dim,npts] = size(v);        if ~all(size(P)==dim)	error('Transformation matrix and point dimensions do not match');    end    t = P*v;  % Transform    for r = 1:dim-1     %  Now normalise    	t(r,:) = t(r,:)./t(end,:);    end        t(end,:) = ones(1,npts);