1. A method for making measurements within a 3D range data set obtained using a 3D rangefinder device, comprising: providing a 3D range data set obtained using a 3D rangefinder device; displaying the 3D range data set as a first image on a display device, wherein the first image comprises one of a 2D image that is generated from the 3D range data set or a 2D image that is registered to the 3D range data set, wherein the 2D image is registered to the 3D data set by: identifying corresponding features in the 2D image and the 3D range data set, computing the location and orientation of the device used to capture the 2D image, using the location and orientation of the device used to capture the 2D image to compute the optical path from the device used to capture the 2D image into the 3D data set, and applying the value from each pixel of the 2D image to a corresponding point or points of the 3D data set; displaying the 3D range data set as a second image on the display device, wherein the second image comprises one of a 3D image, a 2D image that is generated from the 3D range data set, or a 2D image that is registered to the 3D range data set; identifying, within the first image, at least a first feature within the 3D range data set; identifying, within the second image, at least a second feature within the 3D range data set, different from the first feature within the 3D range data set; computing a measurement utilizing the 3D range data set and based on at least the first feature and the second feature; and displaying the computed measurement within at least one of the first image and the second image.