Method for determining 3D coordinates of an object by a handheld laser-based distance measuring device comprising a protective housing providing protection from bumps and drops and resistance against dust and water, wherein an EDM and a TOF camera are mounted in the protective housing in a rigid manner so that an emission axis of the EDM forms a fixed geometric relationship with an optical axis of the TOF camera , the method comprising - determining an object point at the object ; - aiming the EDM at the determined object point along the emission axis ; - measuring a distance from the handheld laser-based distance measuring device to the determined object point by means of the EDM ; - capturing a 3D image of the object by means of the TOF camera , the 3D image including the determined object point , wherein the 3D image comprises a range image and an amplitude image, wherein the range image contains for each pixel a radial measured distance between the object and a pixel of the TOF camera ; - identifying the determined object point in the captured 3D image and in a coordinate system of the TOF camera with respect to the optical axis ; - linking the measured distance with the identified object point in the 3D image ; - performing geometric element recognition in a 3D data signal of the 3D image , recognizing a geometric element in the 3D data signal ; - determining characteristic points of the geometric element as further object points (21, 21', 21", 21′′′, 21"") of the object; and - hooking the recognized geometric element and the further object points (21, 21', 21", 21", 21"") relative to the determined object point , wherein the handheld optical measuring means calculates at least one 3D coordinate data of the further object points (21', 21", 21′′′, 21"") based on at least one radial measured distance of the range image of the 3D image and the measured distance . - determining an object point at the object ; - aiming the EDM at the determined object point along the emission axis ; - measuring a distance from the handheld laser-based distance measuring device to the determined object point by means of the EDM ; - capturing a 3D image of the object by means of the TOF camera , the 3D image including the determined object point , wherein the 3D image comprises a range image and an amplitude image, wherein the range image contains for each pixel a radial measured distance between the object and a pixel of the TOF camera ; - identifying the determined object point in the captured 3D image and in a coordinate system of the TOF camera with respect to the optical axis ; - linking the measured distance with the identified object point in the 3D image ; - performing geometric element recognition in a 3D data signal of the 3D image , recognizing a geometric element in the 3D data signal ; - determining characteristic points of the geometric element as further object points (21, 21', 21", 21′′′, 21"") of the object; and - hooking the recognized geometric element and the further object points (21, 21', 21", 21", 21"") relative to the determined object point , wherein the handheld optical measuring means calculates at least one 3D coordinate data of the further object points (21', 21", 21′′′, 21"") based on at least one radial measured distance of the range image of the 3D image and the measured distance . <EOS>