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there are a few related questions and answers in ROS answers, e.g. http://answers.ros.org/question/160611/how-can-i-get-depth-data-from-kinect/

I'm not sure what you mean by 4 data stored per point, maybe RGBD? The depth image topic will give you D. After converting to float32, you get depth values so there'll be a total of width*height values.