Astra Pro (PID 0x0403) depth Y16 raw values appear to be uncalibrated disparity, not mm distance

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Device: Astra Pro, PID: 0x0403, VID: 0x2bc5
SDK version: v1.10.35
Platform: Raspberry Pi 4 (aarch64), Raspberry Pi OS

I'm using the Sensor-level callback API (ob_sensor_start with a depth sensor
obtained via ob_device_get_sensor_list) to bypass the Pipeline's frameset
sync mechanism, since this device reported "Current device does not support
frame sync" and would never produce a frameset via
ob_pipeline_wait_for_frameset.

Using OB_PROFILE_DEFAULT, I get a 160x120 Y16 depth stream with
ob_depth_frame_get_value_scale() returning 1.0.

The problem: the raw pixel values do not appear to correspond to real-world
millimeter distance. Testing with a flat board at known distances, center-
region raw values were:

• ~0.1-0.2m (very close): all zero (below min range, as expected)
• ~1m: raw max ~470-572, most valid pixels in a similar range
• ~2m: raw max ~464-545

There's almost no difference between the 1m and 2m readings, which suggests
either:

1. The raw Y16 values are an uncalibrated/unconverted disparity encoding
   (not final depth), and this device's disparity-to-depth calibration
   constants aren't being applied because it's not in the officially
   supported device list, or
2. Something else is misconfigured on my end (profile selection, missing
   API call, etc.)

Could you confirm:

• Whether Astra Pro's depth output via this SDK is expected to already be
  in real-world mm (scale-multiplied), or if additional calibration/
  disparity conversion is needed on the application side?
• If additional conversion is needed, what the correct approach or formula
  is for this device?

Happy to share code or additional logs if useful.

[UnknownJackMe]

Could you share the exact OrbbecSDK package asset, library SHA-256, camera firmware version, OrbbecSDKConfig_v1.0.xml, and the minimal sensor-level enumeration code? On another aarch64 system using PID 0x0403 and v1.10.35, queryDeviceList() returns zero devices.

[PushpakAg]

It sounds like the Y16 depth values aren't translating to real-world distances as expected. I'd check if there's a need for additional calibration or conversion steps specific to the Astra Pro.