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 by a) defining a ray that originates from the eye coordinates, intersects the HMD and terminates at the object coordinates and b) calculating an intersection point of the ray and the HMD, the intersection point being the display point; and calculating calibration data based on the screen coordinates, the object coordinates and a transformation from a target coordinate system to the scene camera coordinate system.