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feat(default values): applying a consistent naming convention for default RGB cameras video encoder parameters

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This commit is contained in:
CarolinePascal
2026-05-04 18:05:23 +02:00
parent df8b33fc68
commit 237bae51e8
4 changed files with 31 additions and 16 deletions
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src/lerobot/datasets/dataset_tools.py
+19 -9
View File
@@ -62,7 +62,12 @@ from .utils import (
DEFAULT_EPISODES_PATH,
update_chunk_file_indices,
)
from .video_utils import VideoEncoderConfig, encode_video_frames, get_video_info
from .video_utils import (
VideoEncoderConfig,
camera_encoder_defaults,
encode_video_frames,
get_video_info,
)
def _load_episode_with_stats(src_dataset: LeRobotDataset, episode_idx: int) -> dict:
@@ -101,7 +106,8 @@ def delete_episodes(
episode_indices: List of episode indices to delete.
output_dir: Root directory where the edited dataset will be stored. If not specified, defaults to $HF_LEROBOT_HOME/repo_id. Equivalent to new_root in EditDatasetConfig.
repo_id: Edited dataset identifier. Equivalent to new_repo_id in EditDatasetConfig.
camera_encoder_config: Video encoder settings used when re-encoding video segments (default: :class:`VideoEncoderConfig()`).
camera_encoder_config: Video encoder settings used when re-encoding video segments
(``None`` uses :func:`~lerobot.datasets.video_utils.camera_encoder_defaults`).
"""
if not episode_indices:
raise ValueError("No episodes to delete")
@@ -165,7 +171,8 @@ def split_dataset(
splits: Either a dict mapping split names to episode indices, or a dict mapping
split names to fractions (must sum to <= 1.0).
output_dir: Root directory where the split datasets will be stored. If not specified, defaults to $HF_LEROBOT_HOME/repo_id.
camera_encoder_config: Video encoder settings used when re-encoding video segments (default: :class:`VideoEncoderConfig()`).
camera_encoder_config: Video encoder settings used when re-encoding video segments
(``None`` uses :func:`~lerobot.datasets.video_utils.camera_encoder_defaults`).
Examples:
Split by specific episodes
@@ -598,10 +605,11 @@ def _keep_episodes_from_video_with_av(
Ranges are half-open intervals: [start_frame, end_frame), where start_frame
is inclusive and end_frame is exclusive.
fps: Frame rate of the video.
camera_encoder_config: Video encoder settings (default: :class:`VideoEncoderConfig()`).
camera_encoder_config: Video encoder settings
(``None`` uses :func:`~lerobot.datasets.video_utils.camera_encoder_defaults`).
"""
if camera_encoder_config is None:
camera_encoder_config = VideoEncoderConfig()
camera_encoder_config = camera_encoder_defaults()
from fractions import Fraction
import av
@@ -705,13 +713,14 @@ def _copy_and_reindex_videos(
src_dataset: Source dataset to copy from
dst_meta: Destination metadata object
episode_mapping: Mapping from old episode indices to new indices
camera_encoder_config: Video encoder settings used when re-encoding segments (default: :class:`VideoEncoderConfig()`).
camera_encoder_config: Video encoder settings used when re-encoding segments
(``None`` uses :func:`~lerobot.datasets.video_utils.camera_encoder_defaults`).
Returns:
dict mapping episode index to its video metadata (chunk_index, file_index, timestamps)
"""
if camera_encoder_config is None:
camera_encoder_config = VideoEncoderConfig()
camera_encoder_config = camera_encoder_defaults()
if src_dataset.meta.episodes is None:
src_dataset.meta.episodes = load_episodes(src_dataset.meta.root)
@@ -1654,7 +1663,8 @@ def convert_image_to_video_dataset(
dataset: The source LeRobot dataset with images
output_dir: Root directory where the edited dataset will be stored. If not specified, defaults to $HF_LEROBOT_HOME/repo_id. Equivalent to new_root in EditDatasetConfig.
repo_id: Edited dataset identifier. Equivalent to new_repo_id in EditDatasetConfig.
camera_encoder_config: Video encoder settings (default: :class:`VideoEncoderConfig()`).
camera_encoder_config: Video encoder settings
(``None`` uses :func:`~lerobot.datasets.video_utils.camera_encoder_defaults`).
episode_indices: List of episode indices to convert (None = all episodes)
num_workers: Number of threads for parallel processing (default: 4)
max_episodes_per_batch: Maximum episodes per video batch to avoid memory issues (None = no limit)
@@ -1664,7 +1674,7 @@ def convert_image_to_video_dataset(
New LeRobotDataset with images encoded as videos
"""
if camera_encoder_config is None:
camera_encoder_config = VideoEncoderConfig()
camera_encoder_config = camera_encoder_defaults()
# Check that it's an image dataset
if len(dataset.meta.video_keys) > 0:
src/lerobot/datasets/dataset_writer.py
+4 -2
View File
@@ -53,6 +53,7 @@ from .utils import (
from .video_utils import (
StreamingVideoEncoder,
VideoEncoderConfig,
camera_encoder_defaults,
concatenate_video_files,
encode_video_frames,
get_video_duration_in_s,
@@ -95,7 +96,7 @@ class DatasetWriter:
self,
meta: LeRobotDatasetMetadata,
root: Path,
camera_encoder_config: VideoEncoderConfig,
camera_encoder_config: VideoEncoderConfig | None,
encoder_threads: int | None,
batch_encoding_size: int,
streaming_encoder: StreamingVideoEncoder | None = None,
@@ -108,6 +109,7 @@ class DatasetWriter:
settings, and episode persistence).
root: Local dataset root directory.
camera_encoder_config: Video encoder settings applied to all cameras.
``None`` uses :func:`~lerobot.datasets.video_utils.camera_encoder_defaults`.
encoder_threads: Number of encoder threads (global). ``None``
lets the codec decide.
batch_encoding_size: Number of episodes to accumulate before
@@ -118,7 +120,7 @@ class DatasetWriter:
"""
self._meta = meta
self._root = root
self._camera_encoder_config = camera_encoder_config or VideoEncoderConfig()
self._camera_encoder_config = camera_encoder_config or camera_encoder_defaults()
self._encoder_threads = encoder_threads
self._batch_encoding_size = batch_encoding_size
self._streaming_encoder = streaming_encoder
src/lerobot/datasets/lerobot_dataset.py
+5 -2
View File
@@ -178,7 +178,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
batch_encoding_size (int, optional): Number of episodes to accumulate before batch encoding videos.
Set to 1 for immediate encoding (default), or higher for batched encoding. Defaults to 1.
camera_encoder_config (VideoEncoderConfig | None, optional): Video encoder settings for cameras
(codec, quality, etc.).
(codec, quality, etc.). When ``None``, :func:`~lerobot.datasets.video_utils.camera_encoder_defaults`
is used by the writer.
encoder_threads (int | None, optional): Number of encoder threads (global). ``None`` lets the
codec decide.
streaming_encoding (bool, optional): If True, encode video frames in real-time during capture
@@ -298,7 +299,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
@staticmethod
def _build_streaming_encoder(
fps: int,
camera_encoder_config: VideoEncoderConfig,
camera_encoder_config: VideoEncoderConfig | None,
encoder_threads: int | None,
encoder_queue_maxsize: int,
) -> StreamingVideoEncoder:
@@ -653,6 +654,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
batch_encoding_size: Number of episodes to accumulate before
batch-encoding videos. ``1`` means encode immediately.
camera_encoder_config: Video encoder settings for cameras (codec, quality, etc.).
When ``None``, :func:`~lerobot.datasets.video_utils.camera_encoder_defaults` is used.
encoder_threads: Number of encoder threads (global). ``None``
lets the codec decide.
metadata_buffer_size: Number of episode metadata records to buffer
@@ -753,6 +755,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
batch_encoding_size: Number of episodes to accumulate before
batch-encoding videos.
camera_encoder_config: Video encoder settings for cameras (codec, quality, etc.).
When ``None``, :func:`~lerobot.datasets.video_utils.camera_encoder_defaults` is used.
encoder_threads: Number of encoder threads (global). ``None``
lets the codec decide.
image_writer_processes: Subprocesses for async image writing.
src/lerobot/datasets/video_utils.py
+3 -3
View File
@@ -499,7 +499,7 @@ def encode_video_frames(
) -> None:
"""More info on ffmpeg arguments tuning on `benchmark/video/README.md`"""
if camera_encoder_config is None:
camera_encoder_config = VideoEncoderConfig()
camera_encoder_config = camera_encoder_defaults()
vcodec = camera_encoder_config.vcodec
pix_fmt = camera_encoder_config.pix_fmt
@@ -803,14 +803,14 @@ class StreamingVideoEncoder:
Args:
fps: Frames per second for the output videos.
camera_encoder_config: Video encoder settings applied to all cameras.
When ``None``, :class:`VideoEncoderConfig` defaults are used.
When ``None``, :func:`camera_encoder_defaults` is used.
encoder_threads: Number of encoder threads (global setting).
``None`` lets the codec decide.
queue_maxsize: Max frames to buffer per camera before
back-pressure drops frames.
"""
self.fps = fps
self._camera_encoder_config = camera_encoder_config or VideoEncoderConfig()
self._camera_encoder_config = camera_encoder_config or camera_encoder_defaults()
self._encoder_threads = encoder_threads
self.queue_maxsize = queue_maxsize