The fusion of laser range finder (LRF) and visual image has received more and more attention in recent applications such as industrial robots. The calibration of the poses of these two instruments was conducive to the effective fusion of the two information. The single-point laser range finder and the camera's pose fusion were the main research contents. Two calibration methods for determining the relative position and direction of the two were proposed. Based on the coordinates of the spot camera, the spot was visible and the spot was invisible as the research content. The research content establishes the calibration equations for the two cases by the coordinates of the spot and the plane constraint respectively, and the validity and reliability of the two calibration methods were verified by experiments. The experimental results show that the calibration results can be made in the case of a limited number of measurements. The re-projection error is within 3 pixels, and the computation time is greatly reduced.