Real-time Libraries

When developing real-time applications, oftentimes functions of other libraries need to be utilized. Kithara RealTime Suite includes implementations for both the C standard library as well as for external function libraries, allowing for them to be used within the real-time context.

Real-time libraries under Windows

The real-time libraries in the modular system of Kithara RealTime Suite consist of the following components:


Modules and Extensions

Library Module

Mathematical/trigonometrical and string/memory functions in real time

  • Common
  • Features

For the execution of application codes in a real-time context, functions of the common runtime library are often required. However, they are possibly not qualified for real-time execution. Therefore, the Runtime Library provides real-time-adjusted functions of the C standard library, including mathematical/trigonometric and string/memory functions in real time.

  • Specific real-time-capable implementation of the C standard library functions
  • More than 20 mathematical/trigonometric functions (e. g. sin, cos, tan, arcus and hyperbolicus functions, exp, log, pow, sqrt, floor, ceil)
  • More than 20 string/memory functions (e. g. memcpy, memset, strlen, strcmp, strcpy, strcat, strtok)
  • Supports application and kernel level
  • Optional: Image processing—real time with Halcon or OpenCV
  • Optional: Machine learning—real time with Dlib

Halcon Extension

Real-time image processing with Halcon

  • Common
  • Features

Halcon by Munich company MVTec is a program library with algorthms for image processing and machine vision. It includes its own integrated development environment HDevelop as well as over 2000 operators. The Halcon Extension allows for the implementation of this program library into the Kithara real-time system. This enables the triggering of immediate control reactions to processed images as well as their integration into automation systems with EtherCAT or CANopen.

The Halcon license needs to be acquired separately from MVTec.

  • Real-time image processing with Halcon
  • Over 2000 operators, e.g. matching, segmentation, 3D matching, OCR, deep learning and more
  • Integrated development environment HDevelop
  • Automatic parallelization
  • Execute the HDevEngine directly from the real-time context
  • Immediate control reaction to processed image data, for example with EtherCAT or CANopen
  • Supports Halcon Versions 10 to 13 as well as 18.11
  • The Halcon license needs to be acquired by MVTec
  • The Halcon Extension is an extension of the Library Module

OpenCV Extension

Real-time image processing with OpenCV

  • Common
  • Features

OpenCV is a free program library with algorithms for image processing and machine vision. Among others it includes algorithms for face recognition, 3D functionality, hair segmentation, various fast filters as well as functions for camera calibration. The OpenCV Extension allows for the implementation of this program library into the Kithara real-time system. This enables the triggering of immediate control reactions to processed images as well as their integration into automation systems with EtherCAT or CANopen.

  • Real-time image processing with OpenCV
  • Algorithms for face recognition, 3D functionality, hair segmentation, various fast filters as well as functions for camera calibration
  • Automatic parallelization
  • Immediate control reaction to processed image data, for example with EtherCAT or CANopen
  • Supports OpenCV Versions OpenCV 3.0, 3.4 und 4.1
  • The OpenCV Extension is an extension of the Library Module

Dlib Extension

Machine Learning in real time with Dlib

  • Common
  • Features

Dlib is an open program library with algorithms and tools for the practical application of machine learning tasks. The library includes various software components for dealing with networking, threads, graphical user interfaces, data structures, linear algebra, machine learning and deep learning. With the Dlib Extension, these functions can be used within the real-time context of Kithara RealTime Suite.

  • Dlib in real time
  • Algorithms and tools for machine learning
  • Functions for networking, threads, graphical user interfaces, data structures, linear algebra, machine learning with artificial neural networks and deep learning
  • Free program library
  • The Dlib Extension is an extension of the Library Module