3D recording device, method for producing a 3D image, and method for setting up a 3D recording device

A 3D recording device (1) comprising:

• an image-recording device (2), a rangefinder (3) and an image-processing device (4), the image-processing device (4) is configured to:
• identify (33) at least one group (29, 30, 31, 32) of mutually corresponding image constituents (18, 19, 20, 21, 25, 26, 27, 28) in a sequence (8) of at least two images (9, 10) recorded by the image-recording device (2), calculate (38) at least one three-dimensional position specification (50) in relation to the at least one group (29, 30, 31, 32) of the mutually corresponding image constituents (18, 19, 20, 21, 25, 26, 27, 28) from a respective image position (59, 60) of the image constituents (18, 19, 20, 21, 25, 26, 27, 28) from the group (29, 30, 31, 32) in the images (9, 10) of the sequence (8), calculate (38) a recording pose of the image-recording device (2) from the respective image position (59, 60) of each of the image constituents (18, 19, 20, 21, 25, 26, 27, 28) of the at least one group (29, 30, 31, 32), and then scale (46) a calculated at least one three-dimensional position specification (50) using measured distance information (42) that is measured by the rangefinder (3);
• and calculate further three-dimensional distance information associated with the at least one group (29, 30, 31, 32) of mutually corresponding image constituents (18, 19, 20, 21, 25, 26, 27, 28) for which no distance measurement is available, in at least one of an extrapolation or interpolation method (47) from the measured distance information (42) and the calculated at least one three-dimensional position specification (50).