A measuring system for acquiring three-dimensional measuring points comprising a base unit, a support unit mounted on the base unit and rotatable relative to the base unit around an azimuth axis, an emitting unit configured for providing a transmission beam a receiving unit configured for detecting a reception beam a directing unit mounted in the support unit, rotatable relative to the support unit around an elevation axis, and configured for directing the transmission beam from the emitting unit towards a scene, directing the reception beam from the scene to the receiving unit, a first actuator configured for rotating the support unit relative to the base unit around the azimuth axis, a second actuator configured for rotating the directing unit relative to the support unit around the elevation axis, a first angle encoder configured for measuring a rotatory position of the support unit, a second angle encoder configured for measuring a rotatory position of the directing unit, a camera comprising an image sensor, wherein the camera is configured for capturing an image of at least part of the scene, a computer connected to the first actuator, the second actuator, the first angle encoder, the second angle encoder, and the camera, wherein the computer is configured for controlling a rotatory speed of the support unit via the first actuator, and controlling a rotatory speed of the directing unit via the second actuator, for generating a first panoramic image with the camera, the computer is configured for: controlling the image sensor to sample frames with a frame rate, characterized in that the computer is further configured for: controlling the first actuator to rotate the support unit with a rotatory speed that is adapted to the frame rate of the image sensor in such a way that n consecutive frames are overlapping, wherein n ≥ 3, and processing at least some of the sampled frames to form the first panoramic image. a base unit, a support unit mounted on the base unit and rotatable relative to the base unit around an azimuth axis, an emitting unit configured for providing a transmission beam a receiving unit configured for detecting a reception beam a directing unit mounted in the support unit, rotatable relative to the support unit around an elevation axis, and configured for directing the transmission beam from the emitting unit towards a scene, directing the reception beam from the scene to the receiving unit, directing the transmission beam from the emitting unit towards a scene, directing the reception beam from the scene to the receiving unit, a first actuator configured for rotating the support unit relative to the base unit around the azimuth axis, a second actuator configured for rotating the directing unit relative to the support unit around the elevation axis, a first angle encoder configured for measuring a rotatory position of the support unit, a second angle encoder configured for measuring a rotatory position of the directing unit, a camera comprising an image sensor, wherein the camera is configured for capturing an image of at least part of the scene, a computer connected to the first actuator, the second actuator, the first angle encoder, the second angle encoder, and the camera, wherein the computer is configured for controlling a rotatory speed of the support unit via the first actuator, and controlling a rotatory speed of the directing unit via the second actuator, for generating a first panoramic image with the camera, the computer is configured for: controlling the image sensor to sample frames with a frame rate, characterized in that the computer is further configured for: controlling the first actuator to rotate the support unit with a rotatory speed that is adapted to the frame rate of the image sensor in such a way that n consecutive frames are overlapping, wherein n ≥ 3, and processing at least some of the sampled frames to form the first panoramic image. controlling a rotatory speed of the support unit via the first actuator, and controlling a rotatory speed of the directing unit via the second actuator, for generating a first panoramic image with the camera, the computer is configured for: controlling the image sensor to sample frames with a frame rate, characterized in that the computer is further configured for: controlling the first actuator to rotate the support unit with a rotatory speed that is adapted to the frame rate of the image sensor in such a way that n consecutive frames are overlapping, wherein n ≥ 3, and processing at least some of the sampled frames to form the first panoramic image.