function [eu,EUhm] = hmg2euc(hm)

% HMG2EUC Homogeneous to Euclidean point transform.
%   UMG2EUC(HM) is the Euclidean point corresponding to the homogeneous
%   point HM.
%
%   [e, E_hm] = HMG2EUC(HM) returns the Jacobian of the transformation.

%   Copyright 2008-2009 Joan Sola @ LAAS-CNRS.


s = size(hm,1);
n = size(hm,2);

eu = hm(1:s-1,:)./repmat(hm(s,:),s-1,1);

if nargout > 1 % Jacobians
    if n == 1
        EUhm = [1/hm(s)*eye(s-1) -eu/hm(s)]; % this takes any dimension
    else
        error('Jacobians not computed for multiple points in HM')
    end
end


return



% ========== End of function - Start GPL license ==========


%   # START GPL LICENSE

%---------------------------------------------------------------------
%
%   This file is part of SLAMTB, a SLAM toolbox for Matlab.
%
%   SLAMTB is free software: you can redistribute it and/or modify
%   it under the terms of the GNU General Public License as published by
%   the Free Software Foundation, either version 3 of the License, or
%   (at your option) any later version.
%
%   SLAMTB is distributed in the hope that it will be useful,
%   but WITHOUT ANY WARRANTY; without even the implied warranty of
%   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
%   GNU General Public License for more details.
%
%   You should have received a copy of the GNU General Public License
%   along with SLAMTB.  If not, see <http://www.gnu.org/licenses/>.
%
%---------------------------------------------------------------------

%   SLAMTB is Copyright:
%   Copyright (c) 2008-2010, Joan Sola @ LAAS-CNRS,
%   Copyright (c) 2010-2013, Joan Sola,
%   Copyright (c) 2014-2015, Joan Sola @ IRI-UPC-CSIC,
%   SLAMTB is Copyright 2009 
%   by Joan Sola, Teresa Vidal-Calleja, David Marquez and Jean Marie Codol
%   @ LAAS-CNRS.
%   See on top of this file for its particular copyright.

%   # END GPL LICENSE

