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How to get the distance from a depth image

Hey, I want to get the distance from my depth camera to an object. So far I read that you could do a workaround and convert it to OpenCV image format.

Is there a easier way to get the distance? I thought that the depth image has to choose the colour / grey value according to the distance, but I cant find the ratio.

Also how big is the quantisation error for the depth image?

Thank you very much for helping