A three dimensional spatial imaging system (10) for generating a three dimensional model of a scanned space includes: a laser rangefinder (42) that obtains spatial data by measuring distances to a plurality of target points within the scanned space; a rotating mirror (46) placed in a path of a laser beam (43) emitted from the laser rangefinder (42), the mirror (46) deflecting the laser beam (43) to varying degrees as the mirror (46) is rotated; a digital camera (52) that obtains image data from photographs of the scanned space; a rotating head (30) on which the laser rangefinder (42), mirror (46) and camera (52) are all mounted, the head (30) rotating up to 360 degrees about a central axis of rotation (64) that is substantially normal to a plane in which the head (30) is rotated; and, a data processor that maps color information from the image data obtained by the camera (52) to the corresponding target points of the spatial data obtained by the laser rangefinder (42).