Hello to you Chris,
I see you’ve come a long way!
You are referring to my yart project, as I have finished all my scans I have not modified it to take into account the software modifications of the raspberry PI. (libcamera and picamera2).
But out of personal interest I continue with some tests in this new context which, as you have seen in the forums, is still quite unstable.
The closest project currently is that of Manuel which closely follows the architecture of that of Joe Herman’s, a little too much in my opinion because the architecture and certain parts could be optimized, but at least it works!
Best regards
Dominique