A disclosed measurement head includes a sensor body attached to a camera by a resilient member. The sensor body includes a sensor that measures linear distance and is actuated by arms pivoting outward from the sensor body into contact with an interior surface of pipe for measurement. Each of the arms includes a catch engageable to a latch sleeve to hold each of the arms in a compact folded position for insertion into a pipe. The latch sleeve is movable to release the catch and the arms to provide for measurement of the interior profile of the pipe. Another measurement head includes guide wires attached to an end of each of the arms. The guide wires provide for movement of the arms to provide for insertion of the measurement head into and through a pipe.