Can you determine rotation/camera calibration from series of images separated by pure rotation I have a series of about 50 images, each separated by a small rotation and taken from the same camera. The images are feature-dense, and I can calculate a homography from image-to-image easily. 

My question is, is there any way to determine the rotation matrix and/or intrinsic camera calibration parameters given just these images?
If the images are related by pure rotation, then the homography would give you the rotation matrix.  If the rotation is in-plane, then you would not be able to compute the intrinsics.