1. A mobile capture device, comprising : a housing; a high brightness point light source fixed at the housing at a known position; at least one image capture device supported by the housing and arranged to capture a plurality of color images as the device moves in an environment, the images depicting surfaces in the environment from different orientations and illuminated by the light source; at least one sensor arranged to capture data to track location and orientation of the device associated with each color image; a communications interface arranged to transfer images and data captured by the device to a photometric stereo system.