An imagery system includes: a camera having a field of view； a light source including a source of structured light, the light source movable relative to the camera； and at least one processor. The at least one processor is programmed to determine, at least, estimated locations of points on a surface exposed to the structured light according to image data received from the field of view of the camera. The light source may include at least one fiducial marker, and the at least one processor may be programmed to determine the estimated position of the source of structured light according to the at least one fiducial marker in the image data. Also, the camera may be a stereoscopic camera.
