1. A method for registering an image with a 3D physical object, comprising: acquiring a 3D graphics model of the 3D physical object; identifying a plurality of 3D calibration points on a surface of the object and corresponding 3D model calibration points in the 3D graphics model; illuminating the object with a calibration image using a projector at a fixed location; aligning the calibration image with each of the 3D calibration points on the surface of the 3D physical object to identify corresponding 2D calibration pixels in the calibration image; and determining a transformation between the 2D calibration pixels and the corresponding 3D calibration points of th3 model to register the projector with the 3D physical object.