update

python_server/app/services/depth_io.py

@@ -0,0 +1,22 @@
+from __future__ import annotations
+
+import io
+
+import numpy as np
+from PIL import Image
+
+
+def depth_to_png16_bytes(depth: np.ndarray) -> bytes:
+    depth = np.asarray(depth, dtype=np.float32)
+    dmin = float(depth.min())
+    dmax = float(depth.max())
+    if dmax > dmin:
+        norm = (depth - dmin) / (dmax - dmin)
+    else:
+        norm = np.zeros_like(depth, dtype=np.float32)
+    # 前后端约定：最远=255，最近=0（8-bit）
+    u8 = ((1.0 - norm) * 255.0).clip(0, 255).astype(np.uint8)
+    img = Image.fromarray(u8, mode="L")
+    buf = io.BytesIO()
+    img.save(buf, format="PNG")
+    return buf.getvalue()