Abstract: Disclosed is a method for determining the offset or misalignment between the central or rotational axis and the optical axis of a rigid endoscope or a similar imaging device including a rigid body having an outer casing cylindrically-shaped in the direction of the optical axis, or including at least one segment having a rigid end with such a casing. The method includes taking a plurality of images with a field of view limited by a contour, the positioning of which relative to the central axis is, for each image, physically defined and specific, a relative angular rotation between the contour and the endoscope taking place between two successive images, and of determining a point or a pixel in the successively acquired images whose position remains unchanged, the point corresponding to the projection in the image plane of the central or rotational axis of the rigid body of the endoscope.