WIP Establishes basic estimation framework

src/MultipleViewGeometry.jl

@@ -8,16 +8,20 @@ include("types.jl")
 include("math_aliases.jl")
 
 # Types exported from `types.jl`
-export HomogeneousPoint
+export HomogeneousPoint, ProjectiveEntity, FundamentalMatrix
 
 # Functions exported from `operators.jl`.
 export 𝑛
 
 # Functions exported from `hartley_transformation.jl`.
 export hartley_normalization, hartley_transformation
 
+# Functions exported from `moments_fundamentalmatrix.jl`
+export moments
+
 include("operators.jl")
 include("data_normalization/hartley_transformation.jl")
+include("twoview_estimation/moments_fundamentalmatrix.jl")
 
 # package code goes here
 

src/math_aliases.jl

@@ -1,2 +1,3 @@
 const  √ = sqrt
 const  ∑ = sum
+const  ⊗ = kron

src/twoview_estimation/moments_fundamentalmatrix.jl

@@ -0,0 +1,14 @@
+function moments(entity::FundamentalMatrix, matches...)
+    # ʹ : CTRL + SHIFT + 02b9
+    pts1, pts2 = matches
+
+    𝐀 = fill(0.0,(9,9))
+    for correspondence in zip(pts1, pts2)
+        m , mʹ = correspondence
+        𝐦  = 𝑛(collect(m.coords))
+        𝐦ʹ = 𝑛(collect(mʹ.coords))
+        𝐀 = 𝐀 + ⊗(𝐦*transpose(𝐦) , 𝐦ʹ*transpose(𝐦ʹ))
+    end
+    dump(𝐀)
+
+end

src/types.jl

@@ -1,3 +1,8 @@
 struct HomogeneousPoint{T <: AbstractFloat,N}
     coords::NTuple{N, T}
 end
+
+abstract type ProjectiveEntity end
+
+type FundamentalMatrix <: ProjectiveEntity
+end

test/moments_fundamentalmatrix_tests.jl

@@ -0,0 +1,15 @@
+using MultipleViewGeometry, Base.Test
+
+pts1 = map(HomogeneousPoint,
+        [(-10.0, -10.0, 1.0),
+         (-10.0,  10.0, 1.0),
+         ( 10.0, -10.0, 1.0),
+         ( 10.0,  10.0, 1.0)])
+
+pts2 = map(HomogeneousPoint,
+          [(-20.0, -20.0, 1.0),
+           (-20.0,  20.0, 1.0),
+           ( 20.0, -20.0, 1.0),
+           ( 20.0,  20.0, 1.0)])
+
+moments(FundamentalMatrix(), (pts1,pts2)...)