1. A system for determining surface topology and associated color of at least a portion of a three-dimensional structure, the system comprising: an apparatus comprising an image gathering member to generate depth data of the structure portion corresponding to a two-dimensional reference array substantially orthogonal to a depth direction; and one or more processors operably coupled to the apparatus, the one or more processors configured to cause the system to: receive, from the apparatus, the depth data of the structure portion corresponding to the two-dimensional reference array substantially orthogonal to the depth direction; receive, from the apparatus, two-dimensional first image data of the structure portion associated with the two-dimensional reference array; receive, from the apparatus, two-dimensional second image data of the structure portion associated with the two-dimensional reference array, the second image data being different from the first image data; generate two-dimensional estimated image data based on the first image data and the second image data so as to account for when the first image data and the second image data were generated relative to when the depth data was generated so that the estimated image data corresponds to when the depth data was generated; and map the estimated image data to the depth data for the two-dimensional reference array.