diff --git a/src/sc.cpp b/src/sc.cpp
index c7a0e04..1f508b3 100644
--- a/src/sc.cpp
+++ b/src/sc.cpp
@@ -238,7 +238,7 @@ struct SessionDelegate : ST::CaptureSessionDelegate {
 			for(int x = 0; x < depthFrame.width(); x++)
 			{
 				std::size_t pixelOffset = (y * depthFrame.width()) + x;
-				img.at<float>(y, x) = buf[pixelOffset];
+				img.at<float>(y, x) = buf[pixelOffset] * 0.001f;
 			}
 		}
 
@@ -351,6 +351,8 @@ class SCNode
 
 	bool imu_enable_;
 
+	bool depth_correction_enable_;
+
 	SessionDelegate *delegate_ = nullptr;
 	ST::CaptureSessionSettings sessionConfig_;
 	ST::CaptureSession captureSession_;
@@ -374,6 +376,9 @@ class SCNode
 		ros::param::param<bool>("~imu_enable", imu_enable_, false);
 		ROS_INFO_STREAM(NODE_NAME << ": imu_enable = " << imu_enable_);
 
+		ros::param::param<bool>("~depth_correction_enable", depth_correction_enable_, false);
+		ROS_INFO_STREAM(NODE_NAME << ": depth_correction_enable = " << depth_correction_enable_);
+
 		std::string frame_id;
 		ros::param::param<std::string>("~frame_id", frame_id, DEFAULT_FRAME_ID);
 		ROS_INFO_STREAM(NODE_NAME << ": frame_id = " << frame_id);
@@ -393,6 +398,7 @@ class SCNode
 
 		sessionConfig_.source = ST::CaptureSessionSourceId::StructureCore;
 		sessionConfig_.structureCore = scConfig;
+		sessionConfig_.applyExpensiveCorrection = depth_correction_enable_;
 
 		delegate_ = new SessionDelegate(nh_, frame_id, sessionConfig_);
 		captureSession_.setDelegate(delegate_);