@Lazar-Demin Thank you for replying! I shall see if i can use the data_depth method to do what I need. But wouldn't the points_3D be more useful? Since I am trying to find two points on the screen to measure the distance. The 2 points most likely won't be on the same axis, so in order to get the distance between points wouldn't it be better to use the points_3D fuction, as it returns 3D coordinates in meters? Because as as far as I can tell the data_depth method returns how far the point is away from the camera (correct me if I'm wrong). I shall also let you know if I make any progress using data_depth to get the distance, thanks!

@Anders-Öster yes, i had looked at those projects since i am now developing a lidar project with lidar litev3 [40m range] and always interested in lidar projects, so thanks for posting. looking at others code for potential insights can sometimes help improve what i am trying to accomplish.