Stereo photogrammetry from a single station using a surveying instrument with an eccentric camera

A non-transitory computer readable storage medium comprising a plurality of computer readable instructions tangibly embodied on the computer readable storage medium, which, when executed by a data processor, provide coordinates of an object relative to a location of a surveying instrument having a first horizontal axis extending along a line of sight that is perpendicular to both a second horizontal axis and a vertical axis, where the first horizontal axis, the second horizontal axis, and the vertical axis intersect at a rotation center of the surveying instrument, the plurality of instructions comprising:

• instructions that cause the data processor to locate the coordinates of the surveying instrument using one or more GNSS signals;
• instructions that cause the data processor to identify an object point in a first image recorded by a camera of the surveying instrument, where the camera has a projection center positioned eccentric to the rotation center of the surveying instrument, wherein the first image is associated with a first camera position and orientation;
• instructions that cause the data processor to measure first image coordinates of the object point in the first image;
• instructions that cause the data processor to identify, in a second image recorded by the camera of the surveying instrument, the object point identified in the first image, where an optical axis of the camera at the first camera position and orientation is substantially parallel to the optical axis of the camera at the second camera position and orientation, wherein the second image is associated with a second camera position and orientation referenced to the first camera position and orientation by a predetermined rotation of the surveying instrument by about 180° around the second horizontal axis and by about 180° around the vertical axis and where the rotation center of the surveying instrument is at substantially the same location during recording of both the first image and the second image;
• instructions that cause the data processor to measure second image coordinates of the object point in the second image;
• and
• instructions that cause the data processor to calculate coordinates of the object point relative to the location of the surveying instrument based on the coordinates of the surveying instrument, the first image coordinates, and the second image coordinates.