A system comprising: a three-dimensional scanner that captures a 3D point cloud that comprises a plurality of 3D coordinates corresponding to one or more objects scanned in a surrounding environment; a camera that captures a control image by capturing a plurality of images of the surrounding environment, wherein images from the plurality of images are stitched to form the control image; an auxiliary camera that captures a calibration image by acquiring an ultrawide-angle image of the surrounding environment; and one or more processors that dynamically calibrate the auxiliary camera using the 3D point cloud, the control image, and the calibration image, wherein calibrating the auxiliary camera comprises: extracting a first plurality of features from the control image using a feature-extraction algorithm; extracting a second plurality of features from the calibration image using the feature-extraction algorithm; determining a set of matching features from the first plurality of features and the second plurality of features by using a feature-matching algorithm; building a set of control points using the set of matching features by determining points in the 3D point cloud that are corresponding to the set of matching features; and performing self-calibration of the auxiliary camera using the set of control points, wherein the camera is an integral part of the 3D scanner. a three-dimensional scanner that captures a 3D point cloud that comprises a plurality of 3D coordinates corresponding to one or more objects scanned in a surrounding environment; a camera that captures a control image by capturing a plurality of images of the surrounding environment, wherein images from the plurality of images are stitched to form the control image; an auxiliary camera that captures a calibration image by acquiring an ultrawide-angle image of the surrounding environment; and one or more processors that dynamically calibrate the auxiliary camera using the 3D point cloud, the control image, and the calibration image, wherein calibrating the auxiliary camera comprises: extracting a first plurality of features from the control image using a feature-extraction algorithm; extracting a second plurality of features from the calibration image using the feature-extraction algorithm; determining a set of matching features from the first plurality of features and the second plurality of features by using a feature-matching algorithm; building a set of control points using the set of matching features by determining points in the 3D point cloud that are corresponding to the set of matching features; and performing self-calibration of the auxiliary camera using the set of control points, extracting a first plurality of features from the control image using a feature-extraction algorithm; extracting a second plurality of features from the calibration image using the feature-extraction algorithm; determining a set of matching features from the first plurality of features and the second plurality of features by using a feature-matching algorithm; building a set of control points using the set of matching features by determining points in the 3D point cloud that are corresponding to the set of matching features; and performing self-calibration of the auxiliary camera using the set of control points, wherein the camera is an integral part of the 3D scanner.