How use data of LIDAR

Hi everyone, I need your help to manage data from a lidar.

I briefly explain what I did, I and a colleague of mine have developed software that can read data from the serial port of the lidar (one or more lidar), by inserting 4 points delimiting the area that interests me manage, I transform the polar coordinates of the lidar into Cartesian (x, y) and send them via OSC to Touchdesigner, now I find all my nice points of the movements.

Well my question how can I get these points?
Since I want to create interactive video projections (floor or walls) people can be 1 or many more, how can I manage this movement to make objects move (a sphere for each person for example)

Thanks to who will answer me