In this work, we propose a novel method for self-calibration, using constant inter-frame motion from an image sequence of an object rotating around a single axis with varying camera internal parameters. Our approach makes use of the facts that in many commercial systems rotation angles are often controlled by an electromechanical system, and that the inter-frame essential matrices are invariant if the rotation angles are constant but not necessary known. Using the bundle adjustment method tailored to the special case, i.e., static camera and constant object rotation, the 3D structure of the object is recovered and the camera parameters are refined simultaneously.