Really, really a great job ¡¡
Lets go one more step on ....
Once the laser pointer calibrated ........
If distance, depth and heading are recorded into a 3D data base ........
Taking any point as the reference one ..... relative coordinates from that point could be calculated for all the points joint.
Then, by means of any of the many "point cloud" 3D reconstruction softwares (MeshLab is quite a good free one), a 3D mesh of the environment swept by the ROV lasers can be built.
By means of a correction algorithm (for errors minimization), the resulting mesh could achieve quite a good quality.
Could be the way for 3D scanning ¡¡¡
Nice and interesting work Joakim ¡¡ Im really, really interested on it.