Blender laser scanner?

So I saw this video of David laser scanner and it hit me that blender motion tracker could be used to do it with the help of a pinch of python code.

I wonder how hard would it be to code such an add-on.
I would do it myself but I have no idea of how to retrieve video frames into python, I think the rest of the algorithm seems very straight forward to implement using the blender’s motion tracker.

So python coders around, any help finding out how to get frames from a movie clip into python is welcome (preferentially without OpenCV).