Thispaperpresents a simple and eficient method of calibrating the intrinsic camera parameters for all the lens settings of a motorized zoom lens. Wefuthe aperture setting and perform the camera calibration, adaptively, over the ranges of the zoom andfocus settings. Bilinear interpolation is used to provide the values of the intrinsic camera parametersfor those lens settings where no observations are taken. Our experiments show that theproposed method can provide accurate intrinsic cameraparametersfor all the lens settings, even though camera calibration isperformed only for a small number of sampled lens settings. A calibration object suitable for zoom lens calibration is also presented.