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We present a photogrammetric endoscope to measure three dimensional (3D) shapes of inner cylindrical surfaces by fringe projection. The basic configuration includes two identical cameras aligned with the optical axis and facing each other, conical lenses, and a 360 degrees helical fringe projector. The helical fringe pattern is phase shifted and acquired by both cameras. The phase patterns are used to acquire data from the surface in a regular cylindrical mesh. A prototype was built, calibrated, and tested. We present the results and an application to inspect internal welding seams and misalignment of welded joints in 150 mm (6 in.) diameter pipelines.