Gallery
=======

Here are more photos of the CMOS camera and the CMUcam1 board:

.. |ri1| image:: img/camfrontleft.jpg
   :alt: Camera Left
.. |ri2| image:: img/camrearangle.jpg
   :alt: Camera Angle

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   |ri1| |ri2|

The following images were taken by the CMUcam1 indoors and outdoors:

.. |ri3| image:: img/human2.jpg
   :alt: Indoors
.. |ri4| image:: img/human.jpg
   :alt: Indoors
.. |ri5| image:: img/trees.jpg
   :alt: Outdoors

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   |ri3| |ri4| |ri5|

This next CMUcam1 image is shown in color and then as separate R, G and B bands:

.. |ri6| image:: img/colorscolor.jpg
   :alt: Color
.. |ri7| image:: img/colorsbands.jpg
   :alt: Bands

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   |ri6| |ri7|

This next set of CMUcam1 images are examples of how of our :doc:`java interface
program <downloads>` can be used to display the color tracking output from the
CMUcam1:

.. |ri8| image:: img/elmo_rgb_gallery.jpg
   :alt: Elmo RGB
.. |ri9| image:: img/elmo_bmp_gallery.jpg
   :alt: Elmo BMP
.. |ri10| image:: img/hand_rgb_gallery.jpg
   :alt: Hand RGB
.. |ri11| image:: img/hand_bmp_gallery.jpg
   :alt: Hand BMP

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   |ri8| |ri9| |ri10| |ri11|

Here is the B2Bot, a robot with the CMUcam1 on a servo head, two DC motors and a
custom controller called Cerebellum:

.. |ri12| image:: img/camb2elmo2.jpg
   :alt: B2Bot with Elmo
.. |ri13| image:: img/camb2front.jpg
   :alt: B2Bot Front
.. |ri14| image:: img/camb2side.jpg
   :alt: B2Bot Side

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   |ri12| |ri13| |ri14|

This is the MiniBot, a 2-servo CMUcam1 + Cerebellum robot that is less than 5 inches cubed:

.. |ri15| image:: img/mbot_elmo.jpg
   :alt: MiniBot Elmo
.. |ri16| image:: img/mbot_front.jpg
   :alt: MiniBot Front
.. |ri17| image:: img/mbot_side.jpg
   :alt: MiniBot Side

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The first picture below shows the ServoBot, a CMUcam1 directly controlling a hobby servo. The rest of the pictures show the MiniBot3D, which uses 3 servos to control not just pan but also tilt.

.. |ri18| image:: img/servobot.jpg
   :alt: ServoBot
.. |ri19| image:: img/mbot3dangle.jpg
   :alt: MiniBot3D Angle
.. |ri20| image:: img/mbot3dside.jpg
   :alt: MiniBot3D Side

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   |ri18| |ri19| |ri20|

It is easy to program a robot to follow colorful objects using the CMUcam1's
output. In fact, if you click :download:`here <dl/mbot3d.zip>` you can download
the C code we used to program the PIC chip that is controlling the CMUcam1 on the
MiniBot3D.

The movies below show off our prototype CMUcam1 robots at play:

.. video:: dl/b2botball.mp4
   :width: 100%
   :caption: The B2Bot chasing a large yellow ball.

.. video:: dl/minibotelmo.mp4
   :width: 100%
   :caption: The MiniBot tracking Elmo.

.. video:: dl/mbot3delmo.mp4
   :width: 100%
   :caption: The MiniBot3D tracking with pan and tilt.

.. video:: dl/servobotorange.mp4
   :width: 100%
   :caption: The ServoBot tracking an orange object.

.. video:: dl/servobotblue.mp4
   :width: 100%
   :caption: The ServoBot tracking a blue object.

Here is a cool video edited together by Anthony Rowe of a number of CMUcam1
based robots, including "Barney" a cool line following robot with which he and
Alok Ladsariya won the 2002 Mobot competition:

.. video:: dl/coolvideo.mp4
   :width: 100%
   :caption: A montage of CMUcam1-based robots.

Here are links to other pages and projects which describe robots which use the CMUcam1:

* `PIC and Handyboard CMUcam1 code <http://www-2.cs.cmu.edu/~illah/ROBOCODE/index.html>`__
* `Barney a line following robot <http://www.andrew.cmu.edu/~agr/projects/barney>`__
* :download:`The IRIS security project at the University of Alabama in Huntsville <dl/IRIS-Project.zip>`
* :download:`Table tennis playing augmented reality system designed by students at RPI <dl/Table-Tennis.pdf>`