code: def disparity_image_to_distance(self, dval_img):
          "Convert image of Kinect disparity values to distance (linear method)"
          dist_img = dval_img / 2048.0
          dist_img = 1 / (self.opars[0]*dist_img + self.opars[1])
          return dist_imf disparity_image_to_distance(self, dval_img):
          "Convert image of Kinect disparity values to distance (linear method)"
          dist_img = dval_img / 2048.0
          dist_img = 1 / (self.opars[0]*dist_img + self.opars[1])
          return dist_img
docs: Convert image of Kinect disparity values to distance (linear method)