feat(depth maps): adding support for depth in LeRobot (#3644)

* feat(depth): add depth quantization helpers and tests

* feat(video): add ffv1 to supported codecs

* feat(depth): persist depth metadata

* feat(depth): extend quantization tools to better fit the encoding/decoding pipeline

* feat(depth): plumb DepthEncoderConfig through LeRobotDataset and DatasetWriter

* feat(depth): wire StreamingVideoEncoder + writer to depth encoder

* feat(depth): wire DatasetReader to decode_depth_frames

* feat(cameras/realsense): expose async depth in metric meters

* feat(features): route 2D camera shapes to observation.depth.<key>

* feat(robots/so_follower): emit + populate depth keys when use_depth

* feat(record): plumb DepthEncoderConfig through lerobot-record

* feat(viz): render depth observations as rr.DepthImage in Viridis

* feat(depth maps writer): adding support for raw depth maps recording with image writer

* chore(format): format code

* feat(depth shape): ensuring depth maps shape is always including the channel

* feat(is_depth): simplifying is_depth nested name + legacy support

* fix(stop_event): fixing stop_event race condition in camera classes

* fix(plumbing): fixing missing parts in the depth maps pipeline

* chore(typos): fixing typos

* test(fix): fixing exisiting tests to still work with latest features

* tests(depth): adding new tests for depth integration validation

* feat(pix_fmt channels): use PyAv to check get pixel formats number of channels

* feat(refactor): refactor DepthEncoderConfig quantization pipeline, so that the methods do not live in the config class. Add pixel format - channels validation.Move the default pixel format for depth in the config file.

* fix(pre-commit): fixing mutable defautl value

* fix(info): fixing info metadata update when is_depth_map was set

* tests(typos): fixing typos in tests

* fix(realsense): fixing typo in realsense serial number

* fix(normalization): restricting 255 normalization to non depth/uint8 images only

* fix(typo): fixing typo

* fix(TIFF): add missing quantization and cleanup for TIFF files

* feat(batched dequantization): optimizing dequantize_depth for torch based batched dequantization

* feat(tools): adding depth support in LeRobotDataset edition tools

* test(aggregate): extending aggregation tests to depth frames

* test(cleaning): cleaning up tests

* fix(from_video_info): fixing early validation issue in from_video_info

* fix(typo): fixing typo

* fix(is_depth): adding missing doctrings and is_depth arguments in video decoding functions

Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com>

* fix(depth units): fixing depth units output for the realsense cameras

* feat(output unit): adding support for output unit specification at dataset reading/training time

Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com>

* test(depth): cleaning up depth tests

* test(depth encoding): updating and cleaning video/depth encoding tests

* chore(format): formatting code

* docs(depth): improving depth maps docs

* test(fix): fixing depth tests

* test(dataset tools): adding missing tests for new dataset edition tools features

* chore(format): formatting code

* fix(pyav check): fixing PyAV option validation for integer codec options by normalizing
numeric values before calling `is_integer()`

Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com>

* docs(mermaid): fixing mermaid diagram

* fix(rebase): rebase follow up corrections

* feat(dataset tools): adding missing docstrings and features for depth fill support in dataset edition tools

* docs(docstring): updating docstrings

* docs(dataset tools): updating docs

* fix(save images): fixing image saving in dataset tools

* fix(update video info): fixing update video info logic to match the recording and editing use cases

* test(reencode): fixing reencoding monkeypatch

* fix(review): add Claude review

* chore(format): format code

* fix(update video info): ditching the differentiated approahces for video info update - video info are always updated unless for preserved keys.

* chore(rebase): fixing rebase merge conflicts

* test(visualization): fixing visualization tests

* feat(docstrings): adding explicit docstring for encoding parameters. Docstrigns will now show up as description in the CLI --help.

* feat(mm as default): adding a global DEFAULT_DEPTH_UNIT variable setting mm as default depth unit

* fix(RGB <-> camera): renaming camera_encoder to rgb_encoder for clarity

* chore(TODO): removing deprecated TODO

* doc(write_u16_plane): improving docstrings for write_u16_plane

* feat(units): adding constants for depth frames units (m and mm)

* fix(spam): replacing spamming warning but a debug log

* feat(leagcy metadata): adding automatic metadata update for legacy 'video.is_depth_map' feature

* fix(copy&reindex): fixing metadat reshaping for single channel frames

* fix(ImageNet): excluding dpeth frames from ImageNet stats

* fix(PyAV container seek): fixing initial  PyAV container seek to be robust againsy codec choice

* feat(lerobot-dataset-viz): adding support for depth in lerobot-dataset-viz

* fix(compress): removing rerun compression for DepthImages

* fix(signle channel squeeze): fixing single channel squeezing

* chore(format): format code

* fix(streaming): adding support for dequantization in streaming_dataset.py

* refactor(read depth): factorizing depth reading methods for realsense camera and adding support for depth-only usage

* chore(renaming): fixing missed RGBEncoderConfig renamings

* docs(renaming): reflecting renamings in a clearer way in the docs

* chore(annotation): excluding depth from the annotation pipeline

* feat(robots): adding depth support in compatible follower robots

* feat(LeSadKiwi): excluding LeKiwi from depth support (for now)

* chore(fail): removing misplaced file

* chore(fail): removing misplaced file

* fix(remove ffv1): removing ffv1 as it does not support MP4

* docs(cheat sheet): adding depth and video encoding to the cheat sheet

* fix(lossless): tuning depth encoding parameters for lossless depth storage

* test(fix): fixing failing tests

* depth(ZMQ): excluding ZMQ from depth support

* Revert "depth(ZMQ): excluding ZMQ from depth support"

This reverts commit b95cf4e4c2.

* fix(image transforms): excluding depth frames from images transforms

* fix(typo): typo

* fix(stats): fixing stats computation for depth frames

* fix(TIFF vs. pytorch): adding an extra uint16 to float32 conversion for depth maps stored as raw TIFF images

* fix(typos): fixing typos

* test(dtype): fixing stats computation typing tests

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Wensi Ai <wsai@stanford.edu>

tests/datasets/test_dataset_metadata.py

@@ -59,11 +59,13 @@ def _make_dummy_stats(features: dict) -> dict:
     stats = {}
     for key, ft in features.items():
         if ft["dtype"] in ("image", "video"):
+            channels = ft["shape"][-1]
+            stat_shape = (channels, 1, 1)
             stats[key] = {
-                "max": np.ones((3, 1, 1), dtype=np.float32),
-                "mean": np.full((3, 1, 1), 0.5, dtype=np.float32),
-                "min": np.zeros((3, 1, 1), dtype=np.float32),
-                "std": np.full((3, 1, 1), 0.25, dtype=np.float32),
+                "max": np.ones(stat_shape, dtype=np.float32),
+                "mean": np.full(stat_shape, 0.5, dtype=np.float32),
+                "min": np.zeros(stat_shape, dtype=np.float32),
+                "std": np.full(stat_shape, 0.25, dtype=np.float32),
                 "count": np.array([5]),
             }
         elif ft["dtype"] in ("float32", "float64", "int64"):
@@ -142,6 +144,45 @@ def test_create_without_videos_has_no_video_path(tmp_path):
     assert meta.video_keys == []
 
 
+@pytest.mark.parametrize(
+    ("marker_field", "marker_key"),
+    [
+        ("info", "is_depth_map"),
+        ("info", "video.is_depth_map"),
+        ("video_info", "video.is_depth_map"),
+    ],
+    ids=["info.is_depth_map", "info.video.is_depth_map_legacy", "video_info.video.is_depth_map_legacy"],
+)
+def test_depth_keys_property_filters_by_marker(tmp_path, marker_field, marker_key):
+    """``depth_keys`` recognises the canonical and the two legacy marker variants."""
+    depth_feature = {
+        "dtype": "video",
+        "shape": (64, 96, 1),
+        "names": ["height", "width", "channels"],
+        marker_field: {marker_key: True},
+    }
+    features = {
+        **VIDEO_FEATURES,
+        "observation.images.laptop_depth": depth_feature,
+    }
+    meta = LeRobotDatasetMetadata.create(
+        repo_id="test/depth_keys",
+        fps=DEFAULT_FPS,
+        features=features,
+        root=tmp_path / f"depth_keys_{marker_field}_{marker_key.replace('.', '_')}",
+    )
+
+    assert set(meta.video_keys) == {"observation.images.laptop", "observation.images.laptop_depth"}
+    assert meta.depth_keys == ["observation.images.laptop_depth"]
+
+
+def test_depth_keys_empty_when_no_marker(tmp_path):
+    meta = LeRobotDatasetMetadata.create(
+        repo_id="test/no_depth", fps=DEFAULT_FPS, features=VIDEO_FEATURES, root=tmp_path / "no_depth"
+    )
+    assert meta.depth_keys == []
+
+
 def test_create_raises_on_existing_directory(tmp_path):
     """create() raises if root directory already exists."""
     root = tmp_path / "existing"