You measure the surface distance between two point cloud data points, or one point cloud data point and a 3D point, just as you measure any other distances.
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When measuring a distance, you must click two selection points to define the distance to be measured. Measuring should only be done in Orthographic mode, not Perspective.
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Simple measurements are on the toolbar. Click Tools > Measure to open other measurement modes.
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The distances display in the Text view.