This message was posted on behalf of Intel Corporation
Thank you for contacting us.I'd recommend you to look at this site https://software.intel.com/sites/landingpage/realsense/camera-sdk/v2016r3/documentation/html/index.html?doc_scan_output_data.html.
This is the SDK R3 Documentation page. Here you can find information about the output formats, the texture map and several other topics on how the SDK works. The documentation is very complete but if you have other questions about the SDK functionality don't hesitate to contact us again.