Depth maps (Generated from a LIDAR of an ipad) filtering

Question

I have 16 bit png files and 32bit exr files of depth maps generated from a LIDAR of an ipad. I need to remove outliers and filter these depth maps without changing depth values of the whole depth map. I tried using opencv filters using kernels but it didn't work as the depth values of the whole depth map gets changed. Then I tried to use opencv-bilateral filter but this function only supports 8u and 32f bit images and it didn't work with my 16bit depth maps. So, I'm wondering whether anyone has a better solution to filter these depth maps using python?