Integrate a Java Algorithm¶
This guide will show you how to setup your workspace to integrate your own Java motion segmentation algorithm using the Java PLI. It is assumed that you either followed the quickstart guide or you compiled the MSeg Core Module and the Java PLI from source.
Install the Skeleton Project¶
We will use the
mseg generate terminal tool to install a skeleton project.
# Define the base directory where the project directory should be located $ export $PROJECT_BASE_DIR=~/projects # Run the generation tool to create the skeleton. # If your algorithm requires training, add the --train flag $ mseg generate --java $PROJECT_BASE_DIR ExampleAlgorithm
Compiling the Algorithm¶
Your project should now look similar to this (If you changed the algorithm name the paths will be slightly altered):
$PROJECT_BASE_DIR/ `--- examplealgorithm |--- build/ |--- lib/ |--- src/ | `--- ExampleAlgorithm.java `--- build.xml
To compile the skeleton, we change into the project root folder and run ant:
# Change into the build folder $ cd $PROJECT_BASE_DIR/examplealgorithm # Run ant $ ant
Run the Algorithm¶
To run the algorithm, both ArmarX and the MSeg core module must be running. You can then start the algorithm like this:
# Change into the build folder $ cd $PROJECT_BASE_DIR/examplealgorithm/build # Run the algorithm $ java -jar examplealgorithm.jar
You should now see an output like this:
user@machine:~/projects/examplealgorithm/build$ java -jar examplealgorithm.jar Connecting to MSeg core module... Connection established ExampleAlgorithm ready
You can stop the algorithm with
C at any time.