Can measure distance between camera and object placed with ARCore without focusing the camera?

Hi all! I am working for an enterprise who wants to measure the distance between the man who is holding the camera and an object placed in the real world. But, they want to do it, without focusing the camera to that object.

I have seen ARCore, and i watched that you can place an object (Android icon in the videos) in the real world, and it stays where you have placed it all time (also when you dont look at it). Thats a good first step.

But the really thing I want to know is that if I can measure too the distance between the camera object (it is suppose to be the person holding the mobile phone) and that object placed in the real world (Android icon) without focusing it with the camera.

Maybe with a raycast or simply with a vector3.Distance, I dont know. But is this possible? Thank you so much in advance.