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fix(camera_encoder_config): Removing camera_encoder_config from LeRobotDataset, as it's only required in LeRobotDatasetWriter.

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CarolinePascal
2026-05-04 18:00:14 +02:00
parent 486474bd67
commit fd0119f3db
2 changed files with 6 additions and 20 deletions
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src/lerobot/datasets/dataset_writer.py
+1 -1
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@@ -118,7 +118,7 @@ class DatasetWriter:
""" """
self._meta = meta self._meta = meta
self._root = root self._root = root
self._camera_encoder_config = camera_encoder_config self._camera_encoder_config = camera_encoder_config or VideoEncoderConfig()
self._encoder_threads = encoder_threads self._encoder_threads = encoder_threads
self._batch_encoding_size = batch_encoding_size self._batch_encoding_size = batch_encoding_size
self._streaming_encoder = streaming_encoder self._streaming_encoder = streaming_encoder
src/lerobot/datasets/lerobot_dataset.py
+5 -19
View File
@@ -178,8 +178,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
batch_encoding_size (int, optional): Number of episodes to accumulate before batch encoding videos. batch_encoding_size (int, optional): Number of episodes to accumulate before batch encoding videos.
Set to 1 for immediate encoding (default), or higher for batched encoding. Defaults to 1. Set to 1 for immediate encoding (default), or higher for batched encoding. Defaults to 1.
camera_encoder_config (VideoEncoderConfig | None, optional): Video encoder settings for cameras camera_encoder_config (VideoEncoderConfig | None, optional): Video encoder settings for cameras
(codec, quality, etc.). Defaults to (codec, quality, etc.).
:class:`~lerobot.datasets.video_utils.VideoEncoderConfig` defaults when ``None``.
encoder_threads (int | None, optional): Number of encoder threads (global). ``None`` lets the encoder_threads (int | None, optional): Number of encoder threads (global). ``None`` lets the
codec decide. codec decide.
streaming_encoding (bool, optional): If True, encode video frames in real-time during capture streaming_encoding (bool, optional): If True, encode video frames in real-time during capture
@@ -204,9 +203,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
self._video_backend = video_backend if video_backend else get_safe_default_video_backend() self._video_backend = video_backend if video_backend else get_safe_default_video_backend()
self._return_uint8 = return_uint8 self._return_uint8 = return_uint8
self._batch_encoding_size = batch_encoding_size self._batch_encoding_size = batch_encoding_size
if camera_encoder_config is None:
camera_encoder_config = VideoEncoderConfig()
self._camera_encoder_config = camera_encoder_config
self._encoder_threads = encoder_threads self._encoder_threads = encoder_threads
if self._requested_root is not None: if self._requested_root is not None:
@@ -253,14 +249,14 @@ class LeRobotDataset(torch.utils.data.Dataset):
if streaming_encoding and len(self.meta.video_keys) > 0: if streaming_encoding and len(self.meta.video_keys) > 0:
streaming_enc = self._build_streaming_encoder( streaming_enc = self._build_streaming_encoder(
self.meta.fps, self.meta.fps,
self._camera_encoder_config, camera_encoder_config,
self._encoder_threads, self._encoder_threads,
encoder_queue_maxsize, encoder_queue_maxsize,
) )
self.writer = DatasetWriter( self.writer = DatasetWriter(
meta=self.meta, meta=self.meta,
root=self.root, root=self.root,
camera_encoder_config=self._camera_encoder_config, camera_encoder_config=camera_encoder_config,
encoder_threads=self._encoder_threads, encoder_threads=self._encoder_threads,
batch_encoding_size=batch_encoding_size, batch_encoding_size=batch_encoding_size,
streaming_encoder=streaming_enc, streaming_encoder=streaming_enc,
@@ -656,9 +652,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
video_backend: Video decoding backend (used when reading back). video_backend: Video decoding backend (used when reading back).
batch_encoding_size: Number of episodes to accumulate before batch_encoding_size: Number of episodes to accumulate before
batch-encoding videos. ``1`` means encode immediately. batch-encoding videos. ``1`` means encode immediately.
camera_encoder_config: Video encoder settings for cameras; defaults camera_encoder_config: Video encoder settings for cameras (codec, quality, etc.).
match :class:`~lerobot.datasets.video_utils.VideoEncoderConfig`
when ``None``.
encoder_threads: Number of encoder threads (global). ``None`` encoder_threads: Number of encoder threads (global). ``None``
lets the codec decide. lets the codec decide.
metadata_buffer_size: Number of episode metadata records to buffer metadata_buffer_size: Number of episode metadata records to buffer
@@ -671,8 +665,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
Returns: Returns:
A new :class:`LeRobotDataset` in write mode. A new :class:`LeRobotDataset` in write mode.
""" """
if camera_encoder_config is None:
camera_encoder_config = VideoEncoderConfig()
obj = cls.__new__(cls) obj = cls.__new__(cls)
obj.meta = LeRobotDatasetMetadata.create( obj.meta = LeRobotDatasetMetadata.create(
repo_id=repo_id, repo_id=repo_id,
@@ -696,7 +688,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
obj._video_backend = video_backend if video_backend is not None else get_safe_default_video_backend() obj._video_backend = video_backend if video_backend is not None else get_safe_default_video_backend()
obj._return_uint8 = False obj._return_uint8 = False
obj._batch_encoding_size = batch_encoding_size obj._batch_encoding_size = batch_encoding_size
obj._camera_encoder_config = camera_encoder_config
obj._encoder_threads = encoder_threads obj._encoder_threads = encoder_threads
# Reader is lazily created on first access (write-only mode) # Reader is lazily created on first access (write-only mode)
@@ -761,9 +752,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
video_backend: Video decoding backend for reading back data. video_backend: Video decoding backend for reading back data.
batch_encoding_size: Number of episodes to accumulate before batch_encoding_size: Number of episodes to accumulate before
batch-encoding videos. batch-encoding videos.
camera_encoder_config: Video encoder settings for cameras; defaults camera_encoder_config: Video encoder settings for cameras (codec, quality, etc.).
match :class:`~lerobot.datasets.video_utils.VideoEncoderConfig`
when ``None``.
encoder_threads: Number of encoder threads (global). ``None`` encoder_threads: Number of encoder threads (global). ``None``
lets the codec decide. lets the codec decide.
image_writer_processes: Subprocesses for async image writing. image_writer_processes: Subprocesses for async image writing.
@@ -801,9 +790,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
obj.repo_id, obj._requested_root, obj.revision, force_cache_sync=force_cache_sync obj.repo_id, obj._requested_root, obj.revision, force_cache_sync=force_cache_sync
) )
if camera_encoder_config is None:
camera_encoder_config = VideoEncoderConfig()
obj._camera_encoder_config = camera_encoder_config
obj._encoder_threads = encoder_threads obj._encoder_threads = encoder_threads
obj.root = obj.meta.root obj.root = obj.meta.root