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chore(format): fixing formatting issues

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This commit is contained in:
CarolinePascal
2026-04-24 17:19:19 +02:00
parent 7040a106a2
commit c7dc56d8b5
6 changed files with 42 additions and 48 deletions
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src/lerobot/datasets/aggregate.py
+1 -1
View File
@@ -416,7 +416,7 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
concatenate_video_files(
[dst_path, src_path],
dst_path,
compatibilty_check=True,
compatibility_check=True,
)
# Update duration of this destination file
dst_file_durations[dst_key] = current_dst_duration + src_duration
src/lerobot/datasets/dataset_writer.py
+1 -3
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@@ -502,9 +502,7 @@ class DatasetWriter:
# Update video info (only needed when first episode is encoded)
if episode_index == 0:
self._meta.update_video_info(
video_key, camera_encoder_config=self._camera_encoder_config
)
self._meta.update_video_info(video_key, camera_encoder_config=self._camera_encoder_config)
write_info(self._meta.info, self._meta.root)
metadata = {
src/lerobot/datasets/lerobot_dataset.py
+1 -1
View File
@@ -36,8 +36,8 @@ from .utils import (
)
from .video_utils import (
StreamingVideoEncoder,
get_safe_default_video_backend,
VideoEncoderConfig,
get_safe_default_video_backend,
)
logger = logging.getLogger(__name__)
src/lerobot/datasets/pyav_utils.py
+6 -18
View File
@@ -95,9 +95,7 @@ def detect_available_encoders_pyav(encoders: list[str] | str) -> list[str]:
return available
def _is_field_supported(
field_name: str, vcodec: str, options: dict[str, av.option.Option]
) -> bool:
def _is_field_supported(field_name: str, vcodec: str, options: dict[str, av.option.Option]) -> bool:
"""Whether tuning option *field_name* is meaningful for *vcodec*."""
# GOP is a stream-level option (AVStream.gop_size) not stored in private options.
# Every video codec accepts it.
@@ -118,20 +116,14 @@ def _is_field_supported(
return field_name in options
def _check_numeric_range(
label: str, num: float, opt: av.option.Option, vcodec: str
) -> None:
def _check_numeric_range(label: str, num: float, opt: av.option.Option, vcodec: str) -> None:
"""Raise if *num* lies outside *opt*'s numeric range (no-op if range is degenerate)."""
lo, hi = float(opt.min), float(opt.max)
if lo < hi and not (lo <= num <= hi):
raise ValueError(
f"{label}={num} is out of range for codec {vcodec!r}; must be in [{lo}, {hi}]"
)
raise ValueError(f"{label}={num} is out of range for codec {vcodec!r}; must be in [{lo}, {hi}]")
def _validate_option_value(
vcodec: str, field_name: str, value: Any, opt: av.option.Option
) -> None:
def _validate_option_value(vcodec: str, field_name: str, value: Any, opt: av.option.Option) -> None:
"""Range-check numeric *value* and choice-check string *value* against *opt*.
Type mismatches fall through to FFmpeg's own validation at encode time.
@@ -154,9 +146,7 @@ def _validate_option_value(
return
def _validate_extra_option(
vcodec: str, key: str, value: Any, opt: av.option.Option
) -> None:
def _validate_extra_option(vcodec: str, key: str, value: Any, opt: av.option.Option) -> None:
"""Validate an ``extra_options`` entry: enforce numeric range/type only.
Non-numeric options are passed through (FFmpeg accepts many ad-hoc strings).
@@ -208,9 +198,7 @@ def _check_tuning_fields(
# Enforce a positive integer value.
if field_name == "g":
if isinstance(value, bool) or not isinstance(value, int) or value < 1:
raise ValueError(
f"g={value!r} must be a positive integer for codec {vcodec!r}"
)
raise ValueError(f"g={value!r} must be a positive integer for codec {vcodec!r}")
continue
# Value shape is only cross-checkable when the field maps directly
# to a private option: ``preset`` is literally ``"preset"``;
src/lerobot/datasets/video_utils.py
+18 -13
View File
@@ -100,7 +100,6 @@ class VideoEncoderConfig:
self.validate()
def detect_available_encoders(self, encoders: list[str] | str) -> list[str]:
"""Detect available encoders based on the video backend."""
if self.video_backend == "pyav":
@@ -108,13 +107,11 @@ class VideoEncoderConfig:
else:
return []
def validate(self) -> None:
"""Validate the video encoder config."""
if self.video_backend == "pyav":
check_video_encoder_config_pyav(self)
def resolve_vcodec(self) -> None:
"""Validate vcodec and resolve 'auto' to best available HW encoder, fallback to libsvtav1.
@@ -123,9 +120,7 @@ class VideoEncoderConfig:
a host missing the requested encoder.
"""
if self.vcodec not in VALID_VIDEO_CODECS:
raise ValueError(
f"Invalid vcodec '{self.vcodec}'. Must be one of: {sorted(VALID_VIDEO_CODECS)}"
)
raise ValueError(f"Invalid vcodec '{self.vcodec}'. Must be one of: {sorted(VALID_VIDEO_CODECS)}")
if self.vcodec == "auto":
available = self.detect_available_encoders(HW_ENCODERS)
for encoder in HW_ENCODERS:
@@ -142,7 +137,6 @@ class VideoEncoderConfig:
return
raise ValueError(f"Unsupported video codec: {self.vcodec} with video backend {self.video_backend}")
def get_codec_options(self, encoder_threads: int | None = None) -> dict[str, str]:
"""Translate the tuning fields to codec-specific FFmpeg options.
@@ -563,7 +557,10 @@ def encode_video_frames(
def concatenate_video_files(
input_video_paths: list[Path | str], output_video_path: Path, overwrite: bool = True, compatibilty_check: bool = False
input_video_paths: list[Path | str],
output_video_path: Path,
overwrite: bool = True,
compatibility_check: bool = False,
):
"""
Concatenate multiple video files into a single video file using pyav.
@@ -576,7 +573,7 @@ def concatenate_video_files(
input_video_paths: Ordered list of input video file paths to concatenate.
output_video_path: Path to the output video file.
overwrite: Whether to overwrite the output video file if it already exists. Default is True.
compatibilty_check: Whether to check if the input videos are compatible. Default is False.
compatibility_check: Whether to check if the input videos are compatible. Default is False.
Note:
- Creates a temporary directory for intermediate files that is cleaned up after use.
@@ -596,12 +593,20 @@ def concatenate_video_files(
raise FileNotFoundError("No input video paths provided.")
# This check may be skipped at recording time as videos are encoded with the same encoder config.
if compatibilty_check:
if compatibility_check:
reference_video_info = get_video_info(input_video_paths[0])
for input_path in input_video_paths[1:]:
video_info = get_video_info(input_path)
if video_info["video.height"] != reference_video_info["video.height"] or video_info["video.width"] != reference_video_info["video.width"] or video_info["video.fps"] != reference_video_info["video.fps"] or video_info["video.codec"] != reference_video_info["video.codec"] or video_info["video.pix_fmt"] != reference_video_info["video.pix_fmt"]:
raise ValueError(f"Input video {input_path} is not compatible with the reference video {input_video_paths[0]}.")
if (
video_info["video.height"] != reference_video_info["video.height"]
or video_info["video.width"] != reference_video_info["video.width"]
or video_info["video.fps"] != reference_video_info["video.fps"]
or video_info["video.codec"] != reference_video_info["video.codec"]
or video_info["video.pix_fmt"] != reference_video_info["video.pix_fmt"]
):
raise ValueError(
f"Input video {input_path} is not compatible with the reference video {input_video_paths[0]}."
)
# Create a temporary .ffconcat file to list the input video paths
with tempfile.NamedTemporaryFile(mode="w", suffix=".ffconcat", delete=False) as tmp_concatenate_file:
@@ -1058,7 +1063,7 @@ def get_video_info(
Args:
video_path: Path to the encoded video file to probe.
camera_encoder_config: If provided, record the exact encoder settings used to encode this
camera_encoder_config: If provided, record the exact encoder settings used to encode this
video. Stream-derived values take precedence — encoder fields are only written for keys
not already populated from the video file itself.
"""
tests/datasets/test_video_encoding.py
+15 -12
View File
@@ -28,7 +28,7 @@ import av # noqa: E402
from lerobot.datasets.image_writer import write_image
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.pyav_utils import detect_available_encoders_pyav, get_codec
from lerobot.datasets.pyav_utils import get_codec
from lerobot.datasets.utils import INFO_PATH
from lerobot.datasets.video_utils import (
VALID_VIDEO_CODECS,
@@ -38,12 +38,11 @@ from lerobot.datasets.video_utils import (
get_video_info,
)
# Per-codec skip markers — validation tests only fire when the codec is available
def _require_encoder(vcodec: str) -> pytest.MarkDecorator:
"""Skip the test if ``vcodec`` is not available in the local FFmpeg build."""
return pytest.mark.skipif(
get_codec(vcodec) is None, reason=f"{vcodec!r} not in local FFmpeg build"
)
return pytest.mark.skipif(get_codec(vcodec) is None, reason=f"{vcodec!r} not in local FFmpeg build")
require_libsvtav1 = _require_encoder("libsvtav1")
@@ -306,7 +305,9 @@ def _write_frames(imgs_dir: Path, num_frames: int = 4, height: int = 64, width:
write_image(arr, imgs_dir / f"frame-{i:06d}.png")
def _encode_video(path: Path, num_frames: int = 4, fps: int = 30, cfg: VideoEncoderConfig | None = None) -> Path:
def _encode_video(
path: Path, num_frames: int = 4, fps: int = 30, cfg: VideoEncoderConfig | None = None
) -> Path:
imgs_dir = path.parent / f"imgs_{path.stem}"
_write_frames(imgs_dir, num_frames=num_frames)
encode_video_frames(imgs_dir, path, fps=fps, camera_encoder_config=cfg, overwrite=True)
@@ -321,11 +322,13 @@ def _read_feature_info(dataset: LeRobotDataset) -> dict:
def _add_frames(dataset: LeRobotDataset, num_frames: int) -> None:
shape = dataset.meta.features[VIDEO_KEY]["shape"]
for _ in range(num_frames):
dataset.add_frame({
VIDEO_KEY: np.random.randint(0, 256, shape, dtype=np.uint8),
"action": np.zeros(2, dtype=np.float32),
"task": "test",
})
dataset.add_frame(
{
VIDEO_KEY: np.random.randint(0, 256, shape, dtype=np.uint8),
"action": np.zeros(2, dtype=np.float32),
"task": "test",
}
)
class TestGetVideoInfo:
@@ -480,7 +483,7 @@ class TestConcatenateVideoFiles:
concatenate_video_files(
[ARTIFACTS / "clip_4frames.mp4", ARTIFACTS / "clip_h264.mp4"],
tmp_path / "out.mp4",
compatibilty_check=True,
compatibility_check=True,
)
def test_compatibility_check_raises_on_different_resolution(self, tmp_path):
@@ -488,7 +491,7 @@ class TestConcatenateVideoFiles:
concatenate_video_files(
[ARTIFACTS / "clip_4frames.mp4", ARTIFACTS / "clip_32x48.mp4"],
tmp_path / "out.mp4",
compatibilty_check=True,
compatibility_check=True,
)