Fusion Schema Examples

These examples demonstrate how to connect to various fusion topics published on your EdgeFirst Platform and how to display the information through the command line.

/fusion/occupancy

Setting up subscriber

After setting up the Zenoh session, we will create a subscriber to the fusion/occupancy topic

PythonRust

# Create a subscriber for "rt/fusion/occupancy"
subscriber = session.declare_subscriber('rt/fusion/occupancy')

// Create a subscriber for "rt/fusion/occupancy"
let subscriber = session
    .declare_subscriber("rt/fusion/occupancy")
    .await
    .unwrap();

Receive a message

We can now receive a message on the subscriber. After receiving the message, we will need to deserialize it.

PythonRust

from edgefirst.schemas.fusion_msgs import Occupancy

# Receive a message
msg = subscriber.recv()

# deserialize message
occupancy = Occupancy.deserialize(msg.payload.to_bytes())

use edgefirst_schemas::fusion_msgs::Occupancy;

// Receive a message
let msg = subscriber.recv().unwrap();

let occupancy: Occupancy = cdr::deserialize(&msg.payload().to_bytes())?;

Process the Data

The Occupancy message contains occupancy grid data. You can access various fields like:

PythonRust

# Access occupancy parameters
width = occupancy.width
height = occupancy.height
resolution = occupancy.resolution
data = occupancy.data  # Occupancy grid data

// Access occupancy parameters
let width = occupancy.width;
let height = occupancy.height;
let resolution = occupancy.resolution;
let data = occupancy.data;  // Occupancy grid data

/fusion/model_output

Setting up subscriber

After setting up the Zenoh session, we will create a subscriber to the fusion/model_output topic

PythonRust

# Create a subscriber for "rt/fusion/model_output"
subscriber = session.declare_subscriber('rt/fusion/model_output')

// Create a subscriber for "rt/fusion/model_output"
let subscriber = session
    .declare_subscriber("rt/fusion/model_output")
    .await
    .unwrap();

Receive a message

We can now receive a message on the subscriber. After receiving the message, we will need to deserialize it.

PythonRust

from edgefirst.schemas.fusion_msgs import ModelOutput

# Receive a message
msg = subscriber.recv()

# deserialize message
output = ModelOutput.deserialize(msg.payload.to_bytes())

use edgefirst_schemas::fusion_msgs::ModelOutput;

// Receive a message
let msg = subscriber.recv().unwrap();

let output: ModelOutput = cdr::deserialize(&msg.payload().to_bytes())?;

Process the Data

The ModelOutput message contains fused model output data. You can access various fields like:

PythonRust

# Access model output parameters
timestamp = output.timestamp
boxes = output.boxes  # 2D bounding boxes
masks = output.masks  # Segmentation masks

// Access model output parameters
let timestamp = output.timestamp;
let boxes = output.boxes;  // 2D bounding boxes
let masks = output.masks;  // Segmentation masks

/fusion/mask_output_tracked

Setting up subscriber

After setting up the Zenoh session, we will create a subscriber to the fusion/mask_output_tracked topic

PythonRust

# Create a subscriber for "rt/fusion/mask_output_tracked"
subscriber = session.declare_subscriber('rt/fusion/mask_output_tracked')

// Create a subscriber for "rt/fusion/mask_output_tracked"
let subscriber = session
    .declare_subscriber("rt/fusion/mask_output_tracked")
    .await
    .unwrap();

Receive a message

We can now receive a message on the subscriber. After receiving the message, we will need to deserialize it.

PythonRust

from edgefirst.schemas.fusion_msgs import MaskOutputTracked

# Receive a message
msg = subscriber.recv()

# deserialize message
tracked = MaskOutputTracked.deserialize(msg.payload.to_bytes())

use edgefirst_schemas::fusion_msgs::MaskOutputTracked;

// Receive a message
let msg = subscriber.recv().unwrap();

let tracked: MaskOutputTracked = cdr::deserialize(&msg.payload().to_bytes())?;

Process the Data

The MaskOutputTracked message contains tracked segmentation mask data. You can access various fields like:

PythonRust

# Access tracked mask parameters
timestamp = tracked.timestamp
track_id = tracked.track_id
mask = tracked.mask  # Segmentation mask

// Access tracked mask parameters
let timestamp = tracked.timestamp;
let track_id = tracked.track_id;
let mask = tracked.mask;  // Segmentation mask

/fusion/target

Setting up subscriber

After setting up the Zenoh session, we will create a subscriber to the fusion/target topic

PythonRust

# Create a subscriber for "rt/fusion/target"
subscriber = session.declare_subscriber('rt/fusion/target')

// Create a subscriber for "rt/fusion/target"
let subscriber = session
    .declare_subscriber("rt/fusion/target")
    .await
    .unwrap();

Receive a message

We can now receive a message on the subscriber. After receiving the message, we will need to deserialize it.

PythonRust

from edgefirst.schemas.fusion_msgs import Target

# Receive a message
msg = subscriber.recv()

# deserialize message
target = Target.deserialize(msg.payload.to_bytes())

use edgefirst_schemas::fusion_msgs::Target;

// Receive a message
let msg = subscriber.recv().unwrap();

let target: Target = cdr::deserialize(&msg.payload().to_bytes())?;

Process the Data

The Target message contains target tracking data. You can access various fields like:

PythonRust

# Access target parameters
timestamp = target.timestamp
track_id = target.track_id
position = target.position
velocity = target.velocity

// Access target parameters
let timestamp = target.timestamp;
let track_id = target.track_id;
let position = target.position;
let velocity = target.velocity;