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

tests/datasets/test_dataset_tools.py

@@ -1380,12 +1380,24 @@ def test_convert_image_to_video_dataset_depth(tmp_path, empty_lerobot_dataset_fa
         mock_get_safe_version.return_value = "v3.0"
         mock_snapshot_download.return_value = str(output_dir)
 
+        # Use non-default quantization params so the persisted metadata must
+        # come from the depth encoder (not RGB encoder defaults).
+        depth_encoder = DepthEncoderConfig(
+            vcodec="hevc",
+            pix_fmt="gray12le",
+            g=2,
+            crf=30,
+            depth_min=0.05,
+            depth_max=8.0,
+            shift=2.0,
+            use_log=False,
+        )
         video_dataset = convert_image_to_video_dataset(
             dataset=source_dataset,
             output_dir=output_dir,
             repo_id="dummy/depth_video",
             camera_encoder=VideoEncoderConfig(vcodec="libsvtav1", pix_fmt="yuv420p", g=2, crf=30),
-            depth_encoder=DepthEncoderConfig(vcodec="hevc", pix_fmt="gray12le", g=2, crf=30),
+            depth_encoder=depth_encoder,
             num_workers=1,
         )
 
@@ -1398,6 +1410,18 @@ def test_convert_image_to_video_dataset_depth(tmp_path, empty_lerobot_dataset_fa
     depth_path = video_dataset.root / video_dataset.meta.get_video_file_path(0, "observation.images.depth")
     assert depth_path.exists(), f"Depth video file should exist: {depth_path}"
 
+    # The persisted depth-video metadata must carry the depth quantization params
+    # from the depth encoder (so frames dequantize correctly on read), and the RGB
+    # camera must not be marked as a depth map.
+    persisted_info = load_info(video_dataset.root)
+    depth_info = persisted_info.features["observation.images.depth"]["info"]
+    assert depth_info["is_depth_map"] is True
+    assert DepthEncoderConfig.from_video_info(depth_info) == depth_encoder
+
+    cam_info = persisted_info.features["observation.images.cam"]["info"]
+    assert cam_info.get("is_depth_map") is False
+    assert "video.codec" in cam_info
+
 
 # ─── reencode_dataset ─────────────────────────────────────────────────
 

tests/scripts/test_edit_dataset_parsing.py

@@ -27,6 +27,7 @@ from lerobot.scripts.lerobot_edit_dataset import (
     MergeConfig,
     ModifyTasksConfig,
     OperationConfig,
+    ReencodeVideosConfig,
     RemoveFeatureConfig,
     SplitConfig,
     _validate_config,
@@ -103,3 +104,47 @@ class TestOperationTypeParsing:
         )
         resolved_name = OperationConfig.get_choice_name(type(cfg.operation))
         assert resolved_name == type_name
+
+
+class TestDepthEncoderParsing:
+    """Test that the depth encoder is exposed and parsed for video operations."""
+
+    def test_reencode_has_default_depth_encoder(self):
+        cfg = parse_cfg(["--repo_id", "test/repo", "--operation.type", "reencode_videos"])
+        assert isinstance(cfg.operation, ReencodeVideosConfig)
+        # A depth encoder is configured by default so depth videos are re-encoded too.
+        assert cfg.operation.depth_encoder is not None
+        assert hasattr(cfg.operation.depth_encoder, "depth_min")
+
+    def test_reencode_parses_depth_encoder_overrides(self):
+        cfg = parse_cfg(
+            [
+                "--repo_id",
+                "test/repo",
+                "--operation.type",
+                "reencode_videos",
+                "--operation.depth_encoder.vcodec",
+                "ffv1",
+                "--operation.depth_encoder.depth_max",
+                "12.0",
+                "--operation.depth_encoder.use_log",
+                "false",
+            ]
+        )
+        assert cfg.operation.depth_encoder.vcodec == "ffv1"
+        assert cfg.operation.depth_encoder.depth_max == 12.0
+        assert cfg.operation.depth_encoder.use_log is False
+
+    def test_convert_image_to_video_parses_depth_encoder_overrides(self):
+        cfg = parse_cfg(
+            [
+                "--repo_id",
+                "test/repo",
+                "--operation.type",
+                "convert_image_to_video",
+                "--operation.depth_encoder.depth_min",
+                "0.05",
+            ]
+        )
+        assert isinstance(cfg.operation, ConvertImageToVideoConfig)
+        assert cfg.operation.depth_encoder.depth_min == 0.05