Simplify configs (#550)

Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>

lerobot/common/robot_devices/cameras/utils.py

@@ -2,6 +2,12 @@ from typing import Protocol
 
 import numpy as np
 
+from lerobot.common.robot_devices.cameras.configs import (
+    CameraConfig,
+    IntelRealSenseCameraConfig,
+    OpenCVCameraConfig,
+)
+
 
 # Defines a camera type
 class Camera(Protocol):
@@ -9,3 +15,39 @@ class Camera(Protocol):
     def read(self, temporary_color: str | None = None) -> np.ndarray: ...
     def async_read(self) -> np.ndarray: ...
     def disconnect(self): ...
+
+
+def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> list[Camera]:
+    cameras = {}
+
+    for key, cfg in camera_configs.items():
+        if cfg.type == "opencv":
+            from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
+
+            cameras[key] = OpenCVCamera(cfg)
+
+        elif cfg.type == "intelrealsense":
+            from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
+
+            cameras[key] = IntelRealSenseCamera(cfg)
+        else:
+            raise ValueError(f"The motor type '{cfg.type}' is not valid.")
+
+    return cameras
+
+
+def make_camera(camera_type, **kwargs) -> Camera:
+    if camera_type == "opencv":
+        from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera
+
+        config = OpenCVCameraConfig(**kwargs)
+        return OpenCVCamera(config)
+
+    elif camera_type == "intelrealsense":
+        from lerobot.common.robot_devices.cameras.intelrealsense import IntelRealSenseCamera
+
+        config = IntelRealSenseCameraConfig(**kwargs)
+        return IntelRealSenseCamera(config)
+
+    else:
+        raise ValueError(f"The camera type '{camera_type}' is not valid.")