@stephan 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: https://taulidarcommon.readthedocs.io/ https://taulidarcamera.readthedocs.io/ And the API is on GitHub: https://github.com/OnionIoT/tau-lidar-camera https://github.com/OnionIoT/tau-lidar-common 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!