An apparatus for projecting an output image on a display surface includes a processing unit. The processing unit includes a microprocessor, a memory and an I/O interface connected by buses. A projector sub-system coupled to the processing unit is for display output images on the display surface. A camera sub-system couple to the processing unit is for acquiring input images reflecting a geometry of the display surface. The camera sub-system is in a fixed physical relationship to the projector sub-system. Internal sensors coupled to the processing unit are for determining an orientation of the projector sub-system and the camera sub-system with respect to the display surface.