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Homogeneous line from two points
L = homline(x1, y1, x2, y2) is a vector (3x1) which describes a line in homogeneous form that contains the two Euclidean points (x1,y1) and (x2,y2).
Homogeneous points X (3x1) on the line must satisfy L'*X = 0.
© 1990-2012 Peter Corke.