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/utils/test_visualization_utils.py

@@ -43,6 +43,11 @@ def mock_rerun(monkeypatch):
         def __init__(self, arr):
             self.arr = arr
 
+    class DummyDepthImage:
+        def __init__(self, arr, colormap=None):
+            self.arr = arr
+            self.colormap = colormap
+
     def dummy_log(key, obj=None, **kwargs):
         # Accept either positional `obj` or keyword `entity` and record remaining kwargs.
         if obj is None and "entity" in kwargs:
@@ -55,6 +60,8 @@ def mock_rerun(monkeypatch):
         __spec__=SimpleNamespace(name="rerun", submodule_search_locations=None),
         Scalars=DummyScalar,
         Image=DummyImage,
+        DepthImage=DummyDepthImage,
+        components=SimpleNamespace(Colormap=SimpleNamespace(Viridis="viridis")),
         log=dummy_log,
         init=lambda *a, **k: None,
         spawn=lambda *a, **k: None,
@@ -225,7 +232,7 @@ def test_log_rerun_data_kwargs_only(mock_rerun):
     assert temp.value == pytest.approx(10.0)
 
     img = _obj_for(calls, "observation.gray")
-    assert type(img).__name__ == "DummyImage"
+    assert type(img).__name__ == "DummyDepthImage"  # single-channel -> DepthImage
     assert img.arr.shape == (8, 8, 1)  # remains HWC
     assert _kwargs_for(calls, "observation.gray").get("static", False) is True