Robo K20 Webcam Driver Download Windows 7

This image relaying is accomplished by installing the RoboRealm Virtual Camera (VCam) drivers that will create new webcam drivers in your systemthat can be connected to like a normal webcam. This setup works as follows:1. RoboRealm is running and grabbing images from the actual webcam driver

2. RoboRealm process the image

3. RoboRealm then send its processed image to its VCam driver (ensure that the Options->Virtual Camera->Virtual Camera #1 is set)

4. Your application connects to the RoboRealm VCam driver and grabs the processed (or original) image

Note that this functionality can also be used to provide the source image from a single camera to bothRoboRealm and another running application that requires a webcam. This can be accomplished by the samesetup as above by ensuring that the processed image in RoboRealm is unchanged from the source.You would specify the "source" image within the Virtual Camera Options tab. Likewise, if you wish tofeed a particular image to other capture applications you can accomplish thisby setting a Marker module within the pipeline and specify that image in the "Use Image" dropdown menu.Opening single static images or playing movie files in RoboRealm will also cause the VCam to update too.InstallationTo install the Virtual Camera Drivers proceed to the Options Button->Virtual Camera tab->Install button. Thiswill install or replace the current drivers for the Virtual Camera. Please note, this requires admin permissionsand will take a while to complete ... so please be patient. Once done, you can enable the virtual cameras byselecting the checkboxes below the install button.IF for any reason this installation fails, the install process below is provided to install the drivers manually.Windows XP Installation

As the VCam driver is not actually attached to a physical device the installation is a more manualprocess than hardware based plug and play drivers. The following outlines the installation steps for Windows XP.(Windows 2000 and Vista have similar installations).1. Click on Windows Start Button -> Select Settings -> Select Control Panel. In the Control Panel click "Add Hardware"

2. Click Next on Add Hardware Wizard.

3. Select "Yes, I have already connected the hardware". Again, as no hardware is actually connected to the VCamdriver you need to manually tell the system where to locate the drivers.

4. Select "Add a new hardware device". Then select Next.

5. Select "Install the hardware that I manually select from a list (Advanced)". Then select Next.

6. Select the hardware type "Sound, video and game controllers". Then select Next.

7. Click on the "Have Disk" button. Note that you will not find RoboRealm in the Manufacturer list nor theVCam in the Model list.

8. Once the Browse dialog pops up select the RoboRealm folder where you unzipped/installed the RoboRealmapplication (you can target the RoboRealm.inf file which is what the system is currently looking for). Allthe needed files are in that folder. Once selected you should see "RoboRealm, Virtual Camera"in the Model list. Select Next to continue.

9. You will see some form of verification screen that claims the Driver has not passed "Windows Logo testing".Click "Continue Anyway" or "Ignore" to continue.

10. The system will now copy files into the appropriate location. You *may* get another popup searching forthe RoboRealm.sys file. If so, again, select the same RoboRealm folder that you unzipped/installedRoboRealm in. Once all files are copied the finished installation screen will appear. Click "Finish"to end the installation. You are now ready to run the RoboRealm VCam!

Be sure to have enabled the VCam capturing (Options Button->Virtual Camera->Virtual Camera #1) and installed the VCam driver(see steps below) before attempting to use the VCam functionality. Be sure to have at least DirectX9.0installed.Windows 7/Windows 8 Installation

Windows 7 (especially the 64bit version) requires that all kernel drivers be signed. You will get a popup askingif you trust RoboRealm, LLC. You should accept that (it's us) to continue the driver installation.1. Click Windows Start Button->Control Panel->Device Manager to Open up the Device Manager.

2. Within that Window click on the Computer and then on the Add Legacy hardware menu. Note that themenu option will NOT appear until you select the Computer subtree.

3. You should now see the Add Hardware GUI. Click Next.

4. Select the "Install the Hardware that I manually select from a list (Advanced).

5. Ensure that the Show All Devices option is selected and click Next.

6. Click on the Have Disk button and specify the path where you installed RoboRealm. Press OK and then Next.

7. Click on Next and finally Finish once the Driver has been added.IF things do NOT work on Win7 and you have a yellow exclaimation mark next to the VCam drivers in the device manager that's mostlikely because you've not updated your Windows system with a SHA256 hash fix for drivers. This update came out in Oct 2014and can be read about here. Our drivers use SHA256(since SHA1 will be invalid starting 2016) and thus require that Win7 update to fix this issue. Note, Windows 8 already has thisupdate and need not be updated.Testing

1. Open AmCap or other webcam viewing software

2. Select "RoboRealm VCam" as the driver or image source. The image will appear black or gray until RoboRealm is run

3. Run RoboRealm. Ensure that the Activate VCam checkbox in the Options Button->Virtual Camera tab is set

4. Connect to your actual hardware camera using RoboRealm.

5. You should now see your webcam image in RoboRealm and AmCap.

6. For optimal speed ensure that the AmCap Capture Pin size is the same or similar as to what RoboRealm is capturing otherwiseRoboRealm will resize the image before sending it to the VCam driver which can add to performance delays.Troubleshooting Tips

1. Did you install the VCam driver?

2. Did you click on Options Button->Other Tab->Activate RoboRealm VCam check box in the RoboRealm application?

3. Do you have at least DirectX 9.0 installed? See Microsoft DirectX End-User Runtime for installation.

4. If you are not running any hardware cameras RoboRealm may startup by connecting to its own VCam driver. In this case unclick theCamera button and drag or open an image into RoboRealm. Exit RoboRealm to ensure that on startup it will only load in the image insteadof connecting to a WebCam.

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tag_hash_108Aurora, CO 80014ContactCONTACT USabout us tag_hash_112The RoboRealm application was created back in 2006 to take advantage of (1) lower cost genericcomputing (i.e. PCs), (2) a widening range of lower cost imaging devices, (3) an increasing needand usage of vision as primary sensor device and (4) the desire to quickly research custom solutionsusing an interactive user interface with minimal programming.

Initially I found pyvirtualcam and pyfakewebcam. pyvirtualcam is windows only and relies on having OBS: Open Broadcaster Software installed. pyfakewebcam is linux only and uses a virtual camera driver v4l2loopback. I got pyfakewebcam working, but hit a bunch of issue getting my webcam to work properly in Linux.

Robo K20 Webcam Driver Download Windows 7

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The main feature of the Kinect is that it provides a 640x480 depth map in realtime (30 fps) that indicates which objects are nearversus far in the given scene. This is invaluable for use in obstacle avoidance and navigation. In addition to the depth sensorthe Kinect also provides a traditional 640x480 RGB image, a 3 axis accelerometer, the ability to tilt its head and a niftyLED that you can change the colors on!The Kinect RoboRealm module provides access to the depth map, RGB image, accelerometer information and provides the ability tocontrol the head tilt angle all from within RoboRealm. Note that once the depth image is within RoboRealm all the other traditionalfilters can now be applied to process the depthmap in new ways. If you would prefer to just have the image asa webcam you can use the RoboRealm virtual camera to pipe the image into other webcam compatible application. Or ifyou just want to work on the image yourself you can use the various ways to interface with RoboRealm including ourpopular and flexible API.While the Kinect is a great addition to robotics there are some limitations. First, the depth map is only valid for objects more than 2.5 feetaway from thesensing device. If an object is closer than 2 feet to the Kinect its depth will NOT be detected correctly and be presented as azero depth. If you have a large robot you can place the sensor at the back such that the depth is generatedat the border of the robot. For smaller bots you'll just have to avoid getting too close to objects otherwise they will fall tooclose to the sensor and come up as unknown (black) areas.Second, the Kinect performs its magic by using an IR projector with an IR camera (a form of stereo vision) which means that our favoritebright yellow friend, the sun, will cause some issues with its functionality on a sunny day outside. If you use the Kinect outsideit will NOT work in direct sunlight but will in shady areas. However, a nice aspect of havingIR being projected is that it provides high resolution images in total darkness. In this case your robot can navigate aroundwithout needing any daylight!Third, as the device is essentially a projector it draws about 2Amps of power in order to run. This may notbe an issue on a large robot that has large batteries but may be an issue on mid sized robots that arepower conservative.Regardless of its shortcomings the Kinect offers a much richer data set than most advanced laser systems and at a significantly lower cost!It produces one of the best stereo depth maps that we've ever seen ... and in realtime!Win XP Kinect PC InstallationThe installation of the Kinect on a PC is not as straightforward as connecting other plug and play USB devices. Becauseofficial drivers for the Kinect on a PC have not yet been created/released we have to use an alternative driver that providessufficient flexibility to get things working. For that reason you will need to perform the following steps to getyour Kinect functioning with a Windows PC. Follow these steps BEFORE plugging it in.1. Download - Download the open source libusb-win32 application fromsourceforge and unzip it on your computer. You will need the bin version as apposed to the src version unless you plan to compile the library yourself. This system provides a genericwindows driver that can be used to communicate with the Kinect if you know the right commands. The main file you needwithin this download is called libusb0.sys.2. Download - Download the Kinect .inf and .cat files. These files help Windows understandwhat driver to use with the Kinect. You will have to also unzip this into a location that you know as you will need to specify thispath later. These files were generated by using the inf-wizard.exe program within the libusb package but are included here asdownloads for speed and ease of use.3. Kinect - Plug in the Kinect into the PC. The PC should respond with a driver install dialog. Select the radio button that allows youto tell Windows where the drivers are "Install from a list or specific location (Advanced)". On the next interface using theBrowse button you can specify thepath where you saved the .inf and .cat files. That shouldmake Windows happy!4. libusb - Once the .inf files are used Windows may complain about not knowing where the libusb0.sys file is. You will haveto find that file in the c:\???\libusb-win32-bin-1.2.2.0\bin\x86 folder where you downloaded and installed the libusb files.Note that the ??? might be "Program Files" but it will depend on where you chose to install the libusb application.5. Repeat the above steps of specifying where the .inf files are and the usblib0.sys file is for the Motor, Camera and Audiodevices of the Kinect (3x). Note that the Motor driver includes the accelerometer and led drivers.6. RoboRealm - Once this is complete you can now fire up RoboRealm and insert the Kinect module (easiest way is to selectthe Search tab and type in Kinect). Once this module has been inserted the default configuration should show you the depth mapand the RGB color image as a single large image within the main RoboRealm GUI.Win 7 Kinect PC Installation1. Uninstall - You MUST uninstall KinectSDK for the following to work with Windows 7. Windows 7 will automatically download the KinectSDKbut due to commercial licensing restrictions we CANNOT support those drivers. You can uninstall the drivers by going to your Device Manager, right clickingon the Kinect drivers and select uninstall. If you fail to uninstall these drivers the following drivers will not be able to receive images or depthinformation from the Kinect and appear as a black image.2. Download - Download the open source libusb-win32 application fromsourceforge and unzip it on your computer. You will need the bin version as apposed to the src version unless you plan to compile the library yourself. This system provides a genericwindows driver that can be used to communicate with the Kinect if you know the right commands.3. Download - Download the Kinect .inf and .cat files. These files help Windows understandwhat driver to use with the Kinect. You MUST unzip this into the c:\???\libusb-win32-bin-1.2.2.0\bin\ location of the previouslydownload and unzipped file. The reason this location is required is that Win7 will NOT permit specifying where the .sys file isif it is in a different location than the .inf file. Placing those files in this folder will allow Win7 to find all the appropriatefiles in one location.4. Kinect - Plug in the Kinect into the PC. The PC should respond with a FAILED driver install. Ignore this but letthings settle (i.e. no more popups) before continuing.5. hdwwiz - Click on Windows button and in the Run dialog box type in hdwwiz and press OK. This willrun the hardware wizard. Click Next to get started.6. hdwwiz - Select "Install the hardware that I manually select from a list (Advanced)". Click Next.7. hdwwiz - Keep the "Show All Devices" selection and press Next.8. hdwwiz - Click on the Have Disk button and select that libusb bin folder where you also unzipped the .inf (Driver) files into. Click Next.9. hdwwiz - Select one of the 3 items (Camera, Audio, Motor) to install. Click next and allow driver to be installedwhen security message pops up.10. hdwwiz - Repeat running hdwwiz for the next two items such that all 3 devices have been installed.11. RoboRealm - Once this is complete you can now fire up RoboRealm and insert the Kinect module (easiest way is to selectthe Search tab and type in Kinect). Once this module has been inserted the default configuration should show you the depth mapand the RGB color image as a single large image within the main RoboRealm GUI.12. Problems - If this does not work try first rebooting and re-run RoboRealm.Vista Kinect PC Installation1. Download - Download the open source libusb-win32 application fromsourceforge and unzip it on your computer. You will need the bin version as apposed to the src version unless you plan to compile the library yourself. Thissystem provides a genericwindows driver that can be used to communicate with the Kinect if you know the right commands.2. Download - Download the Kinect .inf and .cat files. These files help Windows understandwhat driver to use with the Kinect. You MUST unzip this into the c:\???\libusb-win32-bin-1.2.2.0\bin\ location of the previouslydownload and unzipped file. The reason this location is required is that Vista will NOT permit specifying where the .sys file isif it is in a different location than the .inf file. Placing those files in this folder will allow Vista to find all the appropriatefiles in one location.4. Kinect - Plug in the Kinect and wait for the cannot locate driver software popup.5. Select "Locate and install driver software". Click next.6. Press 'Continue/Accept' when security confirmation request appears.7. Select 'I don't have the disk, show other options' when Vista complains about not finding driver.8. Click on 'Browse my computer for driver software (Advanced)'9. Specify the libusb bin folder where you also unzipped the .inf (Driver) files into. Click Next.10. Select "Install this driver software anyway." when Vista complains about the driver not being signed.11. Repeat the process for the next two devices.12. RoboRealm - Once this is complete you can now fire up RoboRealm and insert the Kinect module (easiest way is to selectthe Search tab and type in Kinect). Once this module has been inserted the default configuration should show you the depth mapand the RGB color image as a single large image within the main RoboRealm GUI.13. Problems - If this does not work try first rebooting and re-run RoboRealm.InterfaceInstructions1. Images - select which image you'd like to focus on. This will display that image within the main RoboRealm GUI window. By selecting the differentradio buttons you can chose between the depth image (the image that shows the distance to an object based on pixel intensity/color)and/or the RGB image (the typical colored image you see from webcams) and/or the IR image. Because you may be using the images in different waysyou can chose to have images saved in memory as marker images or be show in the main RoboRealm interface.Note that if you are not using both images you can chose the Show Depth or Show RGB only as they help to reduce USB trafficin case you are working with a slower USB bus. Also note that the IR and RGB image CANNOT be used at the same time.2. Motor - The Kinect has the ability to tilt or bow its head. You can select the current value from 0 to 128 (with 64 being aboutlevel) to reposition its head. To automate this movement you can instead select a variable that contains or will contain anumeric value from 0 to 128 which will set the tilt angle. Note that once you select or type in a variable the manualnumber will be disabled to indicate that the tilt angle is now under programmatic control.3. Depth Options - The depth image that the Kinect products is a 11 bit (0 - 2047 value) number that can bedisplayed in several ways. The most common depth map display uses intensity (black to white) to indicate the distanceto any particular pixel within the image. This can be useful for successive processing (for example threshold)but may not best indicate the different depth levels. Thus you can use the different color schemes to provide more insight intowhat depth levels are present in the image.Grayscale - reduces the depth information from 12 bits to 8 for each RGB pixelColor Scheme X - uses the depth value as an index into a color palette. Each palette uses a different color transition.Line - produces a line that indicates the closest depth to an object. This is similar to what a SICK or LIDAR laser wouldproduce. Note this option enables the Top and Bottom settings which allow you to crop the depth map to a specific height.Reducing the height allows objects that are above or below the needed detection level to be ignored when creating thedistance line.Raw Depth - the 12 bit number is encoded with 8 bits in the red channel and the remaining 4 in the green channel. This allowsyou to access the full depth resolution in external applications by decoding the R and G channel. (Note the B channel is set to 0).4. Gamma - While the Kinect can produce up to 2048 depth levels we've not found it to go much beyond 1600. Because of thisnot all the colors will be displayed or used. You may also want to focus more on closer depths and lose some resolutionat more distant depths (since gray images are 0-255 you lose 3 bits). Using the gamma correction can help to bunch upvalues to better highlight the different depthvalues.5. Threshold - You may not want objects that are far away from the Kinect to appear in the depth map. Using the thresholdvalue you can remove far away objects and also compress the color space of the resulting image to better show depthdifferences. Using the threshold you can eliminate all but nearby objects that can then be further processed byother modules.6. Accelerometers - The 3 axis accelerometer provides position information for the Kinect.The X and Y values indicate roll and tilt with the Z axis being a check to determine if the deviceis upside down. Keep in mind that the Accelerometer only measures tilt and NOT orientation (Z axis).7. Smooth - Increasing the smooth value will smooth theunwanted jitter due to noise that the accelerometer numbers will typically display. By decreasingthe smooth value you make the device much more responsive to movement, increasing the value will delay the sharpness of themovement but also make it much more stable and change gradually.8. LED - Use the radio buttons to select what state you want the led to be in. To programmatically control that stateselect a variable that contains or will contain a value from 0 to 6 that will cause the led to change state.9. Brightness - refers to an intensity or luminosity scale of the RGB image that ranges from totally black to totallywhite and has no effect on color values.10. Contrast - refers to how far pixel values can deviate from gray in the RGB image. The higher the contrast the more black and whiteand image appears. The lower the contrast the more gray an image appears.11. Auto Exposure - Allow the Kinect to adjust exposure time for the RGB image.12. Exposure - refers to how long your camera takes to record an RGB image. In a well-lit scene, exposure timescan be very short because plenty of light is available stimulate the CCD pixels with enough energyto record an image. At nighttime, exposure time will increase dramatically due to the near absence of light.A quick exposure time will also reduce motion blur, whereas a slow will introduce more blur if the object is moving.13. Saturation - refers to the intensity of the RGB colors, i.e. how red a red color is. By decreasing the saturation ofan image you remove color and produce a monochrome grayscale picture that represents only darkness and brightness, or luminance.Increasing saturation in an image produces artificially intense colors.14. Auto WhiteBalance - Allows auto adjustment of the RGB image colors such that white pixel are adjusted to a white color.15. IR Properties - Specifies the intensity the projector that is transmitting the IR dots. Note that the 1280x1024 modehas the highest IR projector value whist the smaller modes allow for some adjustment.ExampleMicrosoft Kinect Depth Map with RGB imageVariables

KINECT_DEPTH - when saved as a marker this variable contains the depth imageKINECT_RGB - when saved as a marker this variable contains the RGB imageKINECT_X - the X axis accelerometer valueKINECT_Y - the Y axis accelerometer valueKINECT_Z - the Z axis accelerometer valueSee Also

Creative Senz3D

OpenNI Kinect

LeapMotion Controller

Hokuyo Laser

Stereo Depth

Visible Laser Line

For more information

Hector Martin - Open source Kinect driver

Kinect driver for Windows prototype!

Kinect drivers on YouTube

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