1. A method for determining a position and orientation of a projector, comprising: determining a homography between a camera and a planar surface, with the camera and planar surface in fixed relative position to each other; projecting a pattern on the planar surface with a projector having known intrinsic parameters and an unknown position and orientation; acquiring an image of the pattern with the camera; and determining a position and orientation of the projector from the image using the homography and the intrinsic parameters.