Save image in 16bit

Omniverse Isaac Sim
1

I wonder is there anyway to save the depth in 16bits image (PNG) instead of 8bits.

In systheticdata_recoder.py, there are lines doing as follows. But the input data is already 8bit.

def save_image(self, img_type, image_data, filename):
    if img_type == "RGB":
        # Save ground truth data locally as png
        rgb_img = Image.fromarray(image_data, "RGBA")
        rgb_img.save(f"{self.rgb_folder}/{filename}.png")
    elif img_type == "DEPTH":
        # Convert linear depth to inverse depth for better visualization
        image_data = image_data * 100
        image_data = np.reciprocal(image_data)
        # Save ground truth data locally as png
        image_data[image_data == 0.0] = 1e-5
        image_data = np.clip(image_data, 0, 255)
        image_data -= np.min(image_data)
        image_data /= np.max(image_data)
        depth_img = Image.fromarray((image_data * 255.0).astype(np.uint8))
        depth_img.save(f"{self.depth_folder}/{filename}.png")
2

The raw depth data is a float array received via get_sensor_host_float_texture_array() call. Given, that the data is 32 bits, you should be able to save it in 16 bits image.

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