diff --git a/applications/calibration/src/common.cpp b/applications/calibration/src/common.cpp
index 69b759eb22a191cb8ee1b2e0de01e81c829c06ef..9a44ee28ecc5241c28cc2bfed0b49b16b10a4b5e 100644
--- a/applications/calibration/src/common.cpp
+++ b/applications/calibration/src/common.cpp
@@ -178,7 +178,7 @@ CalibrationChessboard::CalibrationChessboard(const map<string, string> &opt) {
 							getOptionInt(opt, "rows", 6));
 	image_size_ = Size(	getOptionInt(opt, "width", 1280),
 						getOptionInt(opt, "height", 720));
-	pattern_square_size_ = getOptionDouble(opt, "square_size", 36.0);
+	pattern_square_size_ = getOptionDouble(opt, "square_size", 0.036);
 
 	LOG(INFO) << "Chessboard calibration parameters";
 	LOG(INFO) << "         rows: " << pattern_size_.height;
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index 4c38125ce3270d770a70387ddba96def445ed3a2..1ce6cb162c322d82a51988fe63a9256505283b12 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -64,7 +64,7 @@ void disparityToDepth(const cv::Mat &disparity, cv::Mat &depth, const cv::Mat &q
 			cv::Vec4d homg_pt = _Q*cv::Vec4d(x, y, d, 1.0);
 			//dptr[x] = Vec3d(homg_pt.val);
 			//dptr[x] /= homg_pt[3];
-			dptr[x] = (homg_pt[2] / homg_pt[3]) / 1000.0f; // Depth in meters
+			dptr[x] = (homg_pt[2] / homg_pt[3]); // Depth in meters
 
 			if( fabs(d) <= FLT_EPSILON )
 				dptr[x] = 1000.0f;
diff --git a/components/rgbd-sources/src/algorithms/disp2depth.cu b/components/rgbd-sources/src/algorithms/disp2depth.cu
index 72298892dbbcfc60a602f2fd5c206f7c74287058..48e695d97dcca3963910a8afc3afcc1c20a5f7f7 100644
--- a/components/rgbd-sources/src/algorithms/disp2depth.cu
+++ b/components/rgbd-sources/src/algorithms/disp2depth.cu
@@ -8,7 +8,7 @@ __global__ void d2d_kernel(cv::cuda::PtrStepSz<float> disp, cv::cuda::PtrStepSz<
 	for (STRIDE_Y(v,disp.rows)) {
 	for (STRIDE_X(u,disp.cols)) {
 		float d = disp(v,u);
-		depth(v,u) = (d == 0) ? 50.0f : ((cam.baseline*cam.fx) / (d + cam.doffs)) / 1000.0f;
+		depth(v,u) = (d == 0) ? 50.0f : ((cam.baseline*cam.fx) / (d + cam.doffs));
 	}
 	}
 }