diff --git a/Source/ROSIntegrationVision/Private/VisionComponent.cpp b/Source/ROSIntegrationVision/Private/VisionComponent.cpp
index 0a1597c..3ec2259 100644
--- a/Source/ROSIntegrationVision/Private/VisionComponent.cpp
+++ b/Source/ROSIntegrationVision/Private/VisionComponent.cpp
@@ -626,9 +626,9 @@ bool UVisionComponent::ColorObject(AActor *Actor, const FString &name)
 			if (UStaticMesh *StaticMesh = StaticMeshComponent->GetStaticMesh())
 			{
 				uint32 PaintingMeshLODIndex = 0;
-				uint32 NumLODLevel = StaticMesh->RenderData->LODResources.Num();
+				uint32 NumLODLevel = StaticMesh->GetRenderData()->LODResources.Num();
 				//check(NumLODLevel == 1);
-				FStaticMeshLODResources &LODModel = StaticMesh->RenderData->LODResources[PaintingMeshLODIndex];
+				FStaticMeshLODResources &LODModel = StaticMesh->GetRenderData()->LODResources[PaintingMeshLODIndex];
 				FStaticMeshComponentLODInfo *InstanceMeshLODInfo = NULL;
 
 				// PaintingMeshLODIndex + 1 is the minimum requirement, enlarge if not satisfied
@@ -743,18 +743,25 @@ void UVisionComponent::ProcessObject()
 	}
 }
 
-// TODO maybe shift towards "server" who publishs async
+
+//Decode float16 → float32 first
+//Then scale by 0.01
 void UVisionComponent::convertDepth(const uint16_t *in, __m128 *out) const
 {
-	const size_t size = (Width * Height) / 4;
-	for (size_t i = 0; i < size; ++i, in += 4, ++out)
-	{
-    // Divide by 100 here in order to convert UU (cm) into ROS units (m)
-		*out = _mm_cvtph_ps(
-			_mm_div_epi16(
-				_mm_set_epi16(0, 0, 0, 0, *(in + 3), *(in + 2), *(in + 1), *(in + 0)),
-				_mm_set_epi16(100, 100, 100, 100, 100, 100, 100, 100)
-			)
-		);// / 100;
-	}
+    const size_t size = (Width * Height) / 4;
+    const __m128 scale = _mm_set1_ps(0.01f);
+    
+    for (size_t i = 0; i < size; ++i, in += 4, ++out)
+    {
+        float f[4];
+        for (int j = 0; j < 4; ++j)
+        {
+            FFloat16 half;
+            half.Encoded = in[j];
+            f[j] = half.GetFloat();
+        }
+        
+        __m128 depth = _mm_loadu_ps(f);
+        *out = _mm_mul_ps(depth, scale);
+    }
 }