The depth images are scaled by a factor of 5000, i.e., a pixel value of 5000 in the depth image corresponds to a distance of 1 meter from the camera, 10000 to 2 meter distance, etc. A pixel value of 0 means missing value/no data.
However, the pixels in the background appear to be darker than those in the foreground. By the file formats, the background pixels should have higher values than those in the foreground. How come they are darker?