A laser scanner for optical measurement of an environment, comprising: • an optical distance measuring device for detecting distance measurement data having: o a transmitter unit for emitting a distance measurement radiation, and o a receiver unit for receiving parts of the distance measurement radiation returning from the environment, • a support, • a beam steering unit for performing the distance measurement radiation, the beam being fixed to the support such that it can rotate around a beam axis of rotation, and wherein the beam steering unit comprises a mirrored surface for a deflection of the distance measurement radiation, in particular a flat mirrored surface or a parabolic mirrored surface, and • an angle encoder for recording angle data with respect to a rotation of the beam steering unit about the beam axis of rotation, wherein the distance measurement data and the angle data, hereinafter referred to as measurement data, are recorded as part of a measurement process, which comprises a scanning sensing by means of the distance measuring device with • a defined progressive rotation of the beam steering unit about the beam axis of rotation, and • a continuous emission of the distance measurement radiation and a continuous reception of returning parts of the distance measurement radiation, wherein • a receiving optics for parts of the distance measurement radiation returning via the mirrored surface is arranged on the support, in particular wherein the optical axis of the receiving optic is rectified, more particularly coaxially, with respect to the beam axis of rotation, • an outlet area for the emission of the distance measurement radiation is arranged in the direction of the mirrored surface on the support, and • the outlet area has a lateral offset with respect to the optical axis of the receiving optics and the distance measurement radiation emitted by the outlet area is emitted onto the mirrored surface parallel to the optical axis of the receiving optics, characterized in that a compensation algorithm is provided in order to compensate for a parallax effect caused by the continuous rotation of the beam steering unit about the beam axis of rotation and by a lateral offset of the outlet area with respect to the beam axis of rotation with respect to outgoing and returning parts of the distance measurement radiation, wherein compensation parameters depend on the angle data are taken into account in the context of referencing the measurement data with respect to a common coordinate system, based on an angular position of the beam steering unit stored at the time of detection of the distance measurement radiation and a detected distance. • an optical distance measuring device for detecting distance measurement data having: o a transmitter unit for emitting a distance measurement radiation, and o a receiver unit for receiving parts of the distance measurement radiation returning from the environment, o a transmitter unit for emitting a distance measurement radiation, and o a receiver unit for receiving parts of the distance measurement radiation returning from the environment, • a support, • a beam steering unit for performing the distance measurement radiation, the beam being fixed to the support such that it can rotate around a beam axis of rotation, and wherein the beam steering unit comprises a mirrored surface for a deflection of the distance measurement radiation, in particular a flat mirrored surface or a parabolic mirrored surface, and • an angle encoder for recording angle data with respect to a rotation of the beam steering unit about the beam axis of rotation, wherein the distance measurement data and the angle data, hereinafter referred to as measurement data, are recorded as part of a measurement process, which comprises a scanning sensing by means of the distance measuring device with • a defined progressive rotation of the beam steering unit about the beam axis of rotation, and • a continuous emission of the distance measurement radiation and a continuous reception of returning parts of the distance measurement radiation, wherein • a receiving optics for parts of the distance measurement radiation returning via the mirrored surface is arranged on the support, in particular wherein the optical axis of the receiving optic is rectified, more particularly coaxially, with respect to the beam axis of rotation, • an outlet area for the emission of the distance measurement radiation is arranged in the direction of the mirrored surface on the support, and • the outlet area has a lateral offset with respect to the optical axis of the receiving optics and the distance measurement radiation emitted by the outlet area is emitted onto the mirrored surface parallel to the optical axis of the receiving optics,