Add real robot devices and scripts to control real robot (#288)

Co-authored-by: Simon Alibert <alibert.sim@gmail.com>

lerobot/common/robot_devices/cameras/utils.py

@@ -0,0 +1,47 @@
+from pathlib import Path
+from typing import Protocol
+
+import cv2
+import numpy as np
+
+
+def write_shape_on_image_inplace(image):
+    height, width = image.shape[:2]
+    text = f"Width: {width} Height: {height}"
+
+    # Define the font, scale, color, and thickness
+    font = cv2.FONT_HERSHEY_SIMPLEX
+    font_scale = 1
+    color = (255, 0, 0)  # Blue in BGR
+    thickness = 2
+
+    position = (10, height - 10)  # 10 pixels from the bottom-left corner
+    cv2.putText(image, text, position, font, font_scale, color, thickness)
+
+
+def save_color_image(image, path, write_shape=False):
+    path = Path(path)
+    path.parent.mkdir(parents=True, exist_ok=True)
+    if write_shape:
+        write_shape_on_image_inplace(image)
+    cv2.imwrite(str(path), image)
+
+
+def save_depth_image(depth, path, write_shape=False):
+    path = Path(path)
+    path.parent.mkdir(parents=True, exist_ok=True)
+
+    # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
+    depth_image = cv2.applyColorMap(cv2.convertScaleAbs(depth, alpha=0.03), cv2.COLORMAP_JET)
+
+    if write_shape:
+        write_shape_on_image_inplace(depth_image)
+    cv2.imwrite(str(path), depth_image)
+
+
+# Defines a camera type
+class Camera(Protocol):
+    def connect(self): ...
+    def read(self, temporary_color: str | None = None) -> np.ndarray: ...
+    def async_read(self) -> np.ndarray: ...
+    def disconnect(self): ...