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Your depth_image is already normalized to 0-255 range. Converting it to CV_32F won't change the values.
You probably need to check the capturing part and the data format of the depth image. I don't know the Zed stereo cameras, but probably you have to set the depth resolution to millimeters before starting the capture.
Convert the captured buffer to a 16 bit cv::Mat (probably CV_16U type), let's call it depth_data. Then normalize to a depth_image, which will be used for display. In the RGBDtoPoint use the depth_data to get the real Z distance (in mm).
