A method for colourising a three-dimensional point cloud, comprising: • 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 a nodal point of the surveying instrument as origin, • with a first camera comprised by the surveying instrument, 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 (a,b) relative to the nodal point of the surveying instrument, • with a computer, □ 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, □ colourising the uncovered points in the first transformed point cloud by assigning to each uncovered point a pixel value, which has corresponding coordinates in the first camera coordinate system, within the first transformed point cloud, detecting one or more covered points, which are non-visible from the perspective of the first projection centre due to the first parallax shift, and □ either one of the following: colourising the covered points in the first transformed point cloud by assigning to each covered point a substitute pixel value, which is determined based on a pixel value assigned to a point adjacent to the covered point of the first transformed point cloud, and disregarding the one or more covered points with regard to colourising, such that the one or more covered points remain uncoloured. • 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 a nodal point of the surveying instrument as origin, • with a first camera comprised by the surveying instrument, 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 (a,b) relative to the nodal point of the surveying instrument, • with a computer, □ 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, □ colourising the uncovered points in the first transformed point cloud by assigning to each uncovered point a pixel value, which has corresponding coordinates in the first camera coordinate system, within the first transformed point cloud, detecting one or more covered points, which are non-visible from the perspective of the first projection centre due to the first parallax shift, and □ either one of the following: colourising the covered points in the first transformed point cloud by assigning to each covered point a substitute pixel value, which is determined based on a pixel value assigned to a point adjacent to the covered point of the first transformed point cloud, and disregarding the one or more covered points with regard to colourising, such that the one or more covered points remain uncoloured. □ 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, □ colourising the uncovered points in the first transformed point cloud by assigning to each uncovered point a pixel value, which has corresponding coordinates in the first camera coordinate system, within the first transformed point cloud, detecting one or more covered points, which are non-visible from the perspective of the first projection centre due to the first parallax shift, and □ either one of the following: colourising the covered points in the first transformed point cloud by assigning to each covered point a substitute pixel value, which is determined based on a pixel value assigned to a point adjacent to the covered point of the first transformed point cloud, and disregarding the one or more covered points with regard to colourising, such that the one or more covered points remain uncoloured. colourising the covered points in the first transformed point cloud by assigning to each covered point a substitute pixel value, which is determined based on a pixel value assigned to a point adjacent to the covered point of the first transformed point cloud, and disregarding the one or more covered points with regard to colourising, such that the one or more covered points remain uncoloured.