Abstract: A method and a device can be used for optically measuring a thread on an end of a metal pipe by at least one measuring head which is fastened to a manipulator. The measuring head is preferably freely positionable in relation to the metal pipe and has at least one optical measuring path for measuring the thread and at least one position detector. The method includes at least the following method steps: A) providing the metal pipe in a measurement position; B) determining the spatial position of a longitudinal axis of the metal pipe by means of the at least one position detector before and/or while the measuring head is positioned in a measurement position; C) aligning the measuring head parallel to the longitudinal axis of the metal pipe before and/or while the measuring head is positioned in the measurement position; and D) carrying out the optical thread measurement.