After successful installation, you can check the operation with the attached sample component. The installation destination of the sample component is as follows.
/usr/share/openrtm-2.0/components/c++/examples /usr/share/openrtm-2.0/components/python3/ /usr/share/openrtm-2.0/components/java
Start OpenRTP, a tool for operating the RTC and building the RT system.
$ openrtp2
※OpenRTP can coexist with 1.2 series and 2.0 series. Therefore, it is possible to run both openrtp and openrtp2.
The attached sample components are listed on the following pages for the Windows version. There is no difference between the Windows version and the Linux version in terms of component operation. If you want to know a little more about the procedure for executing the sample component in the Linux environment, see the 1.2 series explanation page below. If you read the component path, the execution procedure is the same for 2.0 series.OpenCV's C ++ sample components do not provide a deb package for installation. We provide a script to generate a deb package from the source, so please build and install it.
This is an example of building and installing the OpenCV main unit of version 4.5.4 and the extension module group (opencv_contrib) together.
$ sudo vi /etc/apt/sources.list : deb-src http://jp.archive.ubuntu.com/ubuntu/ *** universe or deb-src http://us.archive.ubuntu.com/ubuntu/ *** universe
sudo apt build-dep opencv wget https://github.com/opencv/opencv/archive/refs/tags/4.5.4.tar.gz -O opencv-4.5.4.tar.gz tar xvzf opencv-4.5.4.tar.gz wget https://github.com/opencv/opencv_contrib/archive/refs/tags/4.5.4.tar.gz -O opencv_contrib-4.5.4.tar.gz tar xvzf opencv_contrib-4.5.4.tar.gz cd opencv-4.5.4 mkdir build cd build cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.5.4/modules -DBUILD_opencv_java=OFF .. make -j$(nproc) sudo make install sudo ldconfig
Get the source ImageProcessing, build it, and generate a deb package.
git clone https://github.com/OpenRTM/ImageProcessing cd ImageProcessing/opencv mkdir build cd build cmake .. ./build_linux_package.sh
This will generate imageprocessing_2.0.0_amd64.deb and install it.
sudo dpkg -i imageprocessing_2.0.0_amd64.deb ls /usr/share/openrtm-2.0/components/c++/opencv-rtcs/ Affine CameraViewer Edge Histogram ImageSubtraction Perspective Scale Template BackGroundSubtractionSimple Chromakey Findcontour Hough ObjectTracking RockPaperScissors Sepia Translate Binarization DilationErosion Flip ImageCalibration OpenCVCamera Rotate SubtractCaptureImage rtc.conf
An executable file (*** Comp) is installed under each sample directory, so please try it.
The C ++ sample components have been regenerated so that they can be built mostly with CMake.
Let's take ConsoleIn as an example.
In the coexistence environment of 1.2 series and 2.0 series, OpenRTMConfig.cmake is installed in the following two places. For this reason, the OpenRTMConfig.cmake found earlier is used.
/usr/lib/x86_64-linux-gnu/openrtm-2.0/cmake/OpenRTMConfig.cmake /usr/lib/x86_64-linux-gnu/openrtm-1.2/cmake/OpenRTMConfig.cmake
In this environment, try running ConsoleIn cmake.
git clone https://github.com/OpenRTM/OpenRTM-aist cd OpenRTM-aist/examples/ConsoleIn/ mkdir build cd build cmake .. : -- OpenRTMConfig.cmake 2.0.0 found.
In 2.0 series OpenRTMConfig.cmake, the version number is output. The version number is not output in 1.2 series.
If you want to build with 1.2 series, specify OpenRTM_DIR as follows in the cmake option.
cmake -DOpenRTM_DIR=/usr/lib/x86_64-linux-gnu/openrtm-1.2/cmake .. : -- OpenRTMConfig.cmake found.