📄 points2dnormalize.m
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function Po = points2dnormalize(Pi,mustRemove)
% POINTS2DNORMALIZE Normalize 2d points
%
% Normalize 2d points removing the last vector element.
%
% Params:
%
% Pi = Input points
% mustRemove = Must the third column be removed? (def=true)
%
% Po = Output points
% Check args:
% Check number of arguments
if nargin<1
error('Argument required for the points to be normalized');
end
% Check the removal switch
if nargin<2
mustRemove = true;
end
% Check the input points matrix geometry
sizePi=size(Pi);
if sizePi(2)==0 Po=Pi;return; end
if sizePi(1)<2 | sizePi(1)>3
error('Pi must be a n*2 or n*3 matrix');
end
% Check for normalization:
Po = Pi;
if not(sizePi(1)==2)
% Normalization
for i=1:sizePi(2)
Po(:,i) = Po(:,i)/Po(3,i);
end
end
% Returning
if mustRemove
Po = Po(1:2,:);
elseif sizePi(1)==2
Po = [Pi;ones(1,size(Pi,2))];
end
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