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Here's one that I use: https://gist.github.com/2400165. It assumes depth_registration is turned on. In answer to your question, you do need convert_metric, to convert from mm to m.

Here's one that I use: https://gist.github.com/2400165. https://gist.github.com/2400165 . It assumes depth_registration is turned on. In answer to your question, you do need convert_metric, to convert from mm to m.