A method for calibrating at least one camera (110) and at least one projector (112) of a detector (114) is proposed. The projector (112) is configured for illuminating at least one object (116) with at least one illumination pattern comprising a plurality of illumination features, wherein the camera (110) has at least one sensor element (120) having a matrix of optical sensors, the optical sensors each having a light-sensitive area, wherein each optical sensor is designed to generate at least one sensor signal in response to an illumination of its respective light-sensitive area by a light beam propagating from the object (116) to the camera (110).