How to interpret the raw depth image data? [closed]

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Hello,

I want to get the distance of an object from the depth sensor(Primesense). I am able to subscribe to all the topics. I am not sure which one to use for my purpose. I tried using "/camera/depth_registered/image_rect_raw" topic.

I have the following information from the topic:

Image Height: 480
Image Width: 640
Encoding: 16UC1
Is Big Endian ?: 0
Step: 1280

The data looks like this:

2  86  2  85  2  85  2  85  2  84  2  84  2  83  2  82  2  82  2  82  2  82  2  82  2  82  2  82  2  82  2  81  2  81  2  81  2  81  2  80  2  80  2  78  2  77  2  75  2  75  2  63  2  63  2  62  2  61  2  60  2  59  2  59  2  58  2  58  2  57  2  57  2  57  2  57  2  56  2  57  2  56  2  57  2  58  2  58  2  58  2  58 ..............

But I don't know what these array of bytes indicate. It would be very helpful if someone can teach me How to get the distance from this data?

Thanks in advance.