From 52eabc362fdb174204b3f4d479159f026f525949 Mon Sep 17 00:00:00 2001
From: "Dr. Zygmunt L. Szpak" <zygmunt.szpak@gmail.com>
Date: Fri, 23 Mar 2018 09:44:30 +1030
Subject: [PATCH] WIP Establishes basic estimation framework

---
 src/MultipleViewGeometry.jl                       |  6 +++++-
 src/math_aliases.jl                               |  1 +
 .../moments_fundamentalmatrix.jl                  | 14 ++++++++++++++
 src/types.jl                                      |  5 +++++
 test/moments_fundamentalmatrix_tests.jl           | 15 +++++++++++++++
 5 files changed, 40 insertions(+), 1 deletion(-)
 create mode 100644 src/twoview_estimation/moments_fundamentalmatrix.jl
 create mode 100644 test/moments_fundamentalmatrix_tests.jl

diff --git a/src/MultipleViewGeometry.jl b/src/MultipleViewGeometry.jl
index 33cb03d..a51fca1 100644
--- a/src/MultipleViewGeometry.jl
+++ b/src/MultipleViewGeometry.jl
@@ -8,7 +8,7 @@ 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
@@ -16,8 +16,12 @@ 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
 
diff --git a/src/math_aliases.jl b/src/math_aliases.jl
index 2afc6b2..c9d8efc 100644
--- a/src/math_aliases.jl
+++ b/src/math_aliases.jl
@@ -1,2 +1,3 @@
 const  √ = sqrt
 const  ∑ = sum
+const  ⊗ = kron
diff --git a/src/twoview_estimation/moments_fundamentalmatrix.jl b/src/twoview_estimation/moments_fundamentalmatrix.jl
new file mode 100644
index 0000000..7f305d6
--- /dev/null
+++ b/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
diff --git a/src/types.jl b/src/types.jl
index 2593420..12b1fb0 100644
--- a/src/types.jl
+++ b/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
diff --git a/test/moments_fundamentalmatrix_tests.jl b/test/moments_fundamentalmatrix_tests.jl
new file mode 100644
index 0000000..9d4eb82
--- /dev/null
+++ b/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)...)