Getting distance with camera/depth/image_raw
I want to get the distance of Kinect on the topic camera/depth/image_raw. Can anyone show me the program to do that on python. I used cv_bridge to convert the topic and only obtained the depth image. Please show me how to get the distance. My depth image is in single channel 32 bit. I wanted to calculate the distance based on the formula found on mathnathan.com as such 34800/(1091.5-d)(cm) where d is the depth array in 11 bit. The formula is based on what is experimented by the person. Should I change my image to 11 bit or is there other formula to obtain the distance. I do not consider using the points topic as it is slow through ros.
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Sorry for not being specific. I have updated my question.