# Class SelfCalibrationLinearRotationSingle

java.lang.Object
boofcv.alg.geo.selfcalib.SelfCalibrationLinearRotationSingle

```public class SelfCalibrationLinearRotationSingle
extends Object```
Camera calibration for when the camera's motion is purely rotational and has no translational component and camera parameters are assumed to be constant. All five camera parameters are estimated and no constraints can be specified. Based off of constant calibration Algorithm 19.3 on page 482 in [1].
``` Steps:
1) Compute homographies between view i and reference frame, i.e. xi = Hix, ensure det(H)=1
2) Write equation w=(Hi)-Tw(i)-1 as A*x=0, where A = 6m by 6 matrix.
3) Compute K using Cholesky decomposition w = U*UT. Actually implemented as an algebraic formula.
```
1. R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003
• ## Constructor Summary

Constructors
Constructor Description
`SelfCalibrationLinearRotationSingle()`
• ## Method Summary

Modifier and Type Method Description
`protected void` ```add​(int which, Homography2D_F64 H, DMatrixRMaj A)```
Adds the linear system defined by H into A and B
`static void` `ensureDeterminantOfOne​(List<Homography2D_F64> homography0toI)`
Scales all homographies so that their determinants are equal to one
`boolean` ```estimate​(List<Homography2D_F64> viewsI_to_view0, CameraPinhole calibration)```
Assumes that the camera parameter are constant

### Methods inherited from class java.lang.Object

`clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`
• ## Constructor Details

• ### SelfCalibrationLinearRotationSingle

public SelfCalibrationLinearRotationSingle()
• ## Method Details

• ### estimate

public boolean estimate​(List<Homography2D_F64> viewsI_to_view0, CameraPinhole calibration)
Assumes that the camera parameter are constant
Parameters:
`viewsI_to_view0` - (Input) List of observed homographies. Modified so that determinant is one.
`calibration` - (Output) found calibration
Returns:
true if successful
• ### ensureDeterminantOfOne

public static void ensureDeterminantOfOne​(List<Homography2D_F64> homography0toI)
Scales all homographies so that their determinants are equal to one
`which` - index of H in the list