如何将Kinect 2.0的深度数据转换为距离值?

I would like to take advantage from the depth sensor of the Kinect 2.0 SDK, but not in the sense that this data is drawn or displayed in the format of an image but rather an integer or something alike. An example of that is if I have my hand very close to the Kinect, I would get an integer value telling me approximately the range between the camera and the obstacle. maybe something like this. As the obstacle moves the Kinect recalculates the distance and updates maybe every secnond or half a second.I would like to take advantage from the depth s