Comparative of a real-time vision system under Xenomai and PREEMPT_RT

Abstract

This article presents the design and programming of a vision system on two real-time operating systems. The above is for the purpose of making a comparison of their performance. The operating systems used were Xenomai and Linux with the PREEMPT_RT patch. The structure of the vision system in both cases is divided into three threads: the first one in charge of acquiring and processing the images, the second one that displays the images on the screen and the last one for the data transfer (and subsequent analysis out of line). The objective of this proposed structure is the optimization of the execution times; which may be smaller compared to using a single process or thread for the entire vision system. Finally, experiments are described emphasizing the periodicity achieved by performing an image processing corresponding to the calculation of a centroid that gives information about the movement of a simple pendulum.