Abstract: A method for calibrating a projector comprises: placing a physical calibration guide within a field of projection of the projector, the physical calibration guide including first optical calibration features; projecting a calibration image by the projector onto the physical calibration guide, the calibration image including second optical calibration features; acquiring with a computing device an image including the first and second optical calibration features; determining a camera transform from the first optical calibration features in the camera image; applying an inverse transform of the camera transform to the second optical calibration features in the camera image to obtain inverse second optical calibration features; and determining a projector transform from the inverse second optical calibration features; wherein the steps of determining a camera transform, applying an inverse transform, and determining a projector transform are performed by the computing device by executing instructions stored ther