METHOD AND DEVICE FOR INPAINTING OF COLOURISED THREE-DIMENSIONAL POINT CLOUDS

The invention relates to a method for colourising a three-dimensional point cloud, wherein the method comprises: With a surveying instrument, surveying a point cloud of a setting, wherein each point of said point cloud is characterised by coordinates within an instrument coordinate system, which has an instrument centre as origin. With a first camera, capturing a first image of the setting, wherein each pixel value of the first image is assigned to coordinates within a first camera coordinate system, which has a first projection centre as origin, wherein the first projection centre has first parallax shift relative to the instrument centre. With a computer comprised by the surveying instrument: Transforming the point cloud from the instrument coordinate system into the first camera coordinate system, resulting in a first transformed point cloud. Within the first transformed point cloud, detecting one or more uncovered points, which are openly visible from the perspective of the first projection centre. To each uncovered point in the first transformed point cloud, assigning a pixel value, which has corresponding coordinates in the first camera coordinate system.