32 bit depth camera data interpretation AND slow pointcloud data

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My depth camera publishes 4 bytes per pixel, or 32 bits in the form of 4 numbers. I need to interpret this data, but do not know what the 4 numbers represent. Looking through online articles, someone recommended using the .../points topic instead however my points topic is very slow at publishing (5 to 10 seconds), and I need relatively live data.

What do the 4 bits mean?? Example for 1 pixel: 0,0,192,127