I'm still thinking that a 3D video recording would be the best way to gather this information. Don't worry about taking stills or optimal placement of the came

I'm still thinking that a 3D video recording would be the best way to gather this information. Don't worry about taking stills or optimal placement of the camera for stills, because all the information you need is captured in the process of taking a decent 3D video scan of each room. And each frame of that 3D video captures important information not only from the objects it's closest to, but also of the objects across the room, including which objects may partially or completely occlude other objects.