The　Time-of-Flight　(TOF)　camera　is　a　new　elegant　choice　for　3D　measurement　and　modelling　in　many　different　fields.　However,　due　to　the　different　method　of　these　new　devices　of　the　technology　on　the　market,　the　knowledge　of　its　performance　is　far　away　from　enough.　In　particular,　the　distance　measurements　of　these　devices　are　often　influenced　by　some　systematic　errors,　which　decrease　the　quality　of　the　data　a　lot.　To　evaluate　these　errors,　some　experiments　have　been　done　on　pulsed　TOF　cameras　developed　by　our　laboratory.　In　this　paper,　we　proposed　a　novel　calibration　procedure　for　pulsed　TOF　cameras,　which　deal　with　the　evaluation　of　the　camera　heating　period,　capture　the　intrinsic　matrix　of　the　camera,　the　measurement　error　of　different　distances　and　colors,　and　a　quick　transformation　for　coordinate.