1. A method of calibrating an augmented reality (AR) device having an optical see-through head mounted display (HMD), said method comprising: obtaining eye coordinates in an eye coordinate system corresponding to a location of an eye of a user of the AR device; obtaining object coordinates in a world coordinate system corresponding to a location of a real-world object in the field of view of the AR device, as captured by a scene camera having a scene camera coordinate system; calculating screen coordinates in a screen coordinate system corresponding to a display point on the HMD, the calculating being based on the eye coordinates and the object coordinates; and calculating calibration data based on the screen coordinates, the object coordinates and a transformation from the target coordinate system to the scene camera coordinate system.