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Apply a homogeneous transformation
p2 = homtrans(T, p) applies homogeneous transformation T to the points stored columnwise in p.
tp = homtrans(T, T1) applies homogeneous transformation T to the homogeneous transformation T1, that is tp=T*T1. If T1 is a 3-dimensional transformation then T is applied to each plane as defined by the first two
dimensions, ie. if T = NxN and T=NxNxP then the result is NxNxP.
© 1990-2012 Peter Corke.