[dvoros]

Thank you very much for the kind words and the recommendation! Adding a camera is probably the next step I'll take. Adding color information to the point cloud would be a huge plus. I haven't tried photogrammetry before but I assume it works best if things are captured from multiple angles so my current setup of taking measurements from a single point isn't the best fit. But maybe combining scans from different standpoints...

[TaylorAlexander]

Yes probably best to experiment with photogrammetry separately and then think about how to integrate it. But it can be difficult to ensure you got 100% coverage so programming a full scan with your gimbal could be useful. You would want to do it from multiple locations. But I’ve found just handheld 4k video from a phone is a great place to start. You can extract frames from video easily with this script I wrote:

https://github.com/tlalexander/rover_video_scripts/blob/mast...