1 - Depth Data from the API
Yes, you can definitely get completely raw depth data using the Python API! Here's the frame object you get back when reading from the camera: https://taulidarcommon.readthedocs.io/en/latest/api.html#module-TauLidarCommon.frame
More docs on the API here:
And the API is on GitHub:
2 - the lens
Wanted to ask first, how much wider does your use case require?
The lens is a standard mount so it's possible to change it. I can find out more about this if you're interested.
If it's a huge amount then you're correct, the projection might become an issue. In this scenario, you can actually use 2 or more cameras in tandem - more info coming on this soon!