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

tests/fixtures/constants.py

@@ -50,6 +50,16 @@ DUMMY_DEPTH_VIDEO_INFO = {
     **DUMMY_VIDEO_INFO,
     "is_depth_map": True,
 }
+DUMMY_DEPTH_VIDEO_INFO_FULL = {
+    **{k: v for k, v in DUMMY_VIDEO_INFO.items() if k != "video.preset"},
+    "video.codec": "hevc",
+    "video.pix_fmt": "gray12le",
+    "is_depth_map": True,
+    "video.depth_min": 0.05,
+    "video.depth_max": 8.0,
+    "video.shift": 2.5,
+    "video.use_log": True,
+}
 DUMMY_DEPTH_CAMERA_FEATURES = {
     "laptop_depth": {
         "shape": (64, 96, 1),
@@ -60,3 +70,25 @@ DUMMY_DEPTH_CAMERA_FEATURES = {
 DUMMY_CAMERA_FEATURES_WITH_DEPTH = {**DUMMY_CAMERA_FEATURES, **DUMMY_DEPTH_CAMERA_FEATURES}
 DUMMY_CHW = (3, 96, 128)
 DUMMY_HWC = (96, 128, 3)
+
+# Default video feature set used by video-encoding persistence tests.
+DUMMY_VIDEO_FEATURES = {
+    "observation.images.cam": {
+        "dtype": "video",
+        "shape": (64, 96, 3),
+        "names": ["height", "width", "channels"],
+    },
+    "action": {"dtype": "float32", "shape": (2,), "names": ["a", "b"]},
+}
+DUMMY_VIDEO_KEY = "observation.images.cam"
+
+DUMMY_DEPTH_FEATURES = {
+    "observation.images.depth": {
+        "dtype": "video",
+        "shape": (64, 96, 1),
+        "names": ["height", "width", "channels"],
+        "info": {"is_depth_map": True},
+    },
+    "action": {"dtype": "float32", "shape": (2,), "names": ["a", "b"]},
+}
+DUMMY_DEPTH_KEY = "observation.images.depth"

tests/fixtures/dataset_factories.py

@@ -38,6 +38,8 @@ from lerobot.datasets.utils import (
     DEFAULT_VIDEO_PATH,
     DatasetInfo,
 )
+from lerobot.datasets.video_utils import encode_video_frames
+from lerobot.utils.constants import DEFAULT_FEATURES
 from tests.fixtures.constants import (
     DEFAULT_FPS,
     DUMMY_CAMERA_FEATURES,
@@ -45,13 +47,9 @@ from tests.fixtures.constants import (
     DUMMY_REPO_ID,
     DUMMY_ROBOT_TYPE,
 )
-from lerobot.datasets.video_utils import encode_video_frames
-from lerobot.utils.constants import DEFAULT_FEATURES
 
 
-def add_frames(
-    dataset: LeRobotDataset, num_frames: int
-) -> None:
+def add_frames(dataset: LeRobotDataset, num_frames: int) -> None:
     """Append ``num_frames`` synthetic frames to ``dataset``.
 
     Generates per-feature payloads from ``dataset.meta``: uint16 depth ramps for
@@ -59,9 +57,8 @@ def add_frames(
     and float32 zeros for everything else. ``DEFAULT_FEATURES`` (timestamp,
     frame_index, ...) are auto-populated by ``add_frame`` and skipped here.
     """
-    if video_keys is None:
-        video_keys = dataset.meta.video_keys
-    depth_keys = set(dataset.meta.depth_keys)
+    video_keys = dataset.meta.video_keys
+    depth_keys = dataset.meta.depth_keys
     # Smooth gradient base reused per (H, W) to keep depth frames cheap to
     # encode (HEVC Main 12 hates white noise).
     _depth_base_cache: dict[tuple[int, int], np.ndarray] = {}