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

src/lerobot/datasets/pyav_utils.py

@@ -42,6 +42,12 @@ def write_u16_plane(plane: av.video.plane.VideoPlane, src: np.ndarray, fill_valu
     dst[:, :width] = src
 
 
+@functools.cache
+def get_pix_fmt_channels(pix_fmt: str) -> int:
+    """Return the number of components (channels) for *pix_fmt*."""
+    return len(av.VideoFormat(pix_fmt).components)
+
+
 @functools.cache
 def get_codec(vcodec: str) -> av.codec.Codec | None:
     """PyAV write-mode ``Codec`` for *vcodec*, or ``None`` if unavailable."""
@@ -153,6 +159,16 @@ def _check_pixel_format(vcodec: str, pix_fmt: str) -> None:
         )
 
 
+def _check_pix_fmt_channels(pix_fmt: str, channels: int) -> None:
+    """Ensure *pix_fmt* can carry at least *channels* components."""
+    pix_fmt_channels = get_pix_fmt_channels(pix_fmt)
+    if pix_fmt_channels < channels:
+        raise ValueError(
+            f"pix_fmt={pix_fmt!r} carries only {pix_fmt_channels} component(s) "
+            f"but the source data has {channels} channel(s)."
+        )
+
+
 def _check_codec_options(vcodec: str, codec_options: dict[str, Any]) -> None:
     """Validate merged encoder options (typed) against the codec's published AVOptions."""
     supported_options = _get_codec_options_by_name(vcodec)
@@ -167,12 +183,18 @@ def _check_codec_options(vcodec: str, codec_options: dict[str, Any]) -> None:
         _check_option_value(vcodec, key, value, supported_options[key])
 
 
-def check_video_encoder_parameters_pyav(vcodec: str, pix_fmt: str, codec_options: dict[str, Any]) -> None:
+def check_video_encoder_parameters_pyav(
+    vcodec: str,
+    pix_fmt: str,
+    codec_options: dict[str, Any],
+    channels: int | None = None,
+) -> None:
     """Verify *config* is compatible with the bundled FFmpeg build.
 
     Checks pixel format, abstract tuning-field compatibility, and each merged
     encoder option from :meth:`~lerobot.configs.video.VideoEncoderConfig.get_codec_options`
     against PyAV (including numeric ``extra_options`` present in that dict).
+    When given, additionally verify that *pix_fmt* carries as many components as the source data channels.
     No-op when ``config.vcodec`` isn't in the local FFmpeg build.
 
     Raises:
@@ -182,4 +204,6 @@ def check_video_encoder_parameters_pyav(vcodec: str, pix_fmt: str, codec_options
     if not options:
         raise ValueError(f"Codec {vcodec!r} is not available in the bundled FFmpeg build")
     _check_pixel_format(vcodec, pix_fmt)
+    if channels is not None:
+        _check_pix_fmt_channels(pix_fmt, channels)
     _check_codec_options(vcodec, codec_options)

src/lerobot/datasets/video_utils.py

@@ -45,6 +45,7 @@ from lerobot.configs import (
 from lerobot.utils.import_utils import get_safe_default_video_backend
 
 from .depth_utils import DEPTH_PIX_FMT, quantize_depth
+from .pyav_utils import get_pix_fmt_channels
 
 logger = logging.getLogger(__name__)
 
@@ -966,8 +967,7 @@ def get_video_info(
         # Calculate fps from r_frame_rate
         video_info["video.fps"] = int(video_stream.base_rate)
 
-        pixel_channels = get_video_pixel_channels(video_stream.pix_fmt)
+        video_info["video.channels"] = get_pix_fmt_channels(video_stream.pix_fmt)
-        video_info["video.channels"] = pixel_channels
 
     # Reset logging level
     av.logging.restore_default_callback()
@@ -988,17 +988,6 @@ def get_video_info(
     return video_info
 
 
-def get_video_pixel_channels(pix_fmt: str) -> int:
-    if "gray" in pix_fmt or "depth" in pix_fmt or "monochrome" in pix_fmt:
-        return 1
-    elif "rgba" in pix_fmt or "yuva" in pix_fmt:
-        return 4
-    elif "rgb" in pix_fmt or "yuv" in pix_fmt:
-        return 3
-    else:
-        raise ValueError("Unknown format")
-
-
 def get_video_duration_in_s(video_path: Path | str) -> float:
     """
     Get the duration of a video file in seconds using PyAV.

tests/datasets/test_depth.py

@@ -25,7 +25,7 @@ from lerobot.datasets.image_writer import (
     save_kwargs_for_path,
     write_image,
 )
-from lerobot.datasets.video_utils import get_video_pixel_channels
+from lerobot.datasets.pyav_utils import get_pix_fmt_channels
 from tests.fixtures.constants import (
     DEFAULT_FPS,
     DUMMY_CAMERA_FEATURES,
@@ -195,9 +195,9 @@ class TestHwToDatasetFeaturesDepth:
 class TestVideoInfoDepthFlag:
     """Misc depth-related constants and helpers in video_utils / configs."""
 
-    def test_get_video_pixel_channels_gray(self):
+    def test_get_pix_fmt_channels_gray(self):
-        assert get_video_pixel_channels("gray12le") == 1
+        assert get_pix_fmt_channels("gray12le") == 1
-        assert get_video_pixel_channels("gray8") == 1
+        assert get_pix_fmt_channels("gray8") == 1
 
     def test_ffv1_in_valid_codecs(self):
         assert "ffv1" in VALID_VIDEO_CODECS