Model Schema Examples

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

/model/info

Setting up subscriber

After setting up the Zenoh session, we will create a subscriber to the model/info topic

PythonRust

# Create a subscriber for "rt/model/info"
subscriber = session.declare_subscriber('rt/model/info')

// Create a subscriber for "rt/model/info"
let subscriber = session
    .declare_subscriber("rt/model/info")
    .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.model_msgs import ModelInfo

# Receive a message
msg = subscriber.recv()

# deserialize message
info = ModelInfo.deserialize(msg.payload.to_bytes())

use edgefirst_schemas::model_msgs::ModelInfo;

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

let info: ModelInfo = cdr::deserialize(&msg.payload().to_bytes())?;

Process the Data

The ModelInfo message contains information about the model configuration. You can access various fields like:

PythonRust

# Access model parameters
model_name = info.model_name
input_shape = info.input_shape
output_shape = info.output_shape
classes = info.classes

// Access model parameters
let model_name = info.model_name;
let input_shape = info.input_shape;
let output_shape = info.output_shape;
let classes = info.classes;

/model/boxes2d

Setting up subscriber

After setting up the Zenoh session, we will create a subscriber to the model/boxes2d topic

PythonRust

# Create a subscriber for "rt/model/boxes2d"
subscriber = session.declare_subscriber('rt/model/boxes2d')

// Create a subscriber for "rt/model/boxes2d"
let subscriber = session
    .declare_subscriber("rt/model/boxes2d")
    .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.model_msgs import Boxes2D

# Receive a message
msg = subscriber.recv()

# deserialize message
boxes = Boxes2D.deserialize(msg.payload.to_bytes())

use edgefirst_schemas::model_msgs::Boxes2D;

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

let boxes: Boxes2D = cdr::deserialize(&msg.payload().to_bytes())?;

Process the Data

The Boxes2D message contains 2D bounding box detections. You can access various fields like:

PythonRust

# Access box parameters
for box in boxes.boxes:
    x = box.x
    y = box.y
    width = box.width
    height = box.height
    class_id = box.class_id
    confidence = box.confidence

// Access box parameters
for box in boxes.boxes {
    let x = box.x;
    let y = box.y;
    let width = box.width;
    let height = box.height;
    let class_id = box.class_id;
    let confidence = box.confidence;
}

/model/mask

Setting up subscriber

After setting up the Zenoh session, we will create a subscriber to the model/mask topic

PythonRust

# Create a subscriber for "rt/model/mask"
subscriber = session.declare_subscriber('rt/model/mask')

// Create a subscriber for "rt/model/mask"
let subscriber = session
    .declare_subscriber("rt/model/mask")
    .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.model_msgs import Mask

# Receive a message
msg = subscriber.recv()

# deserialize message
mask = Mask.deserialize(msg.payload.to_bytes())

use edgefirst_schemas::model_msgs::Mask;

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

let mask: Mask = cdr::deserialize(&msg.payload().to_bytes())?;

Process the Data

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

PythonRust

# Access mask parameters
width = mask.width
height = mask.height
data = mask.data  # Binary mask data
class_id = mask.class_id

// Access mask parameters
let width = mask.width;
let height = mask.height;
let data = mask.data;  // Binary mask data
let class_id = mask.class_id;

/model/compressed_mask

Setting up subscriber

After setting up the Zenoh session, we will create a subscriber to the model/compressed_mask topic

PythonRust

# Create a subscriber for "rt/model/compressed_mask"
subscriber = session.declare_subscriber('rt/model/compressed_mask')

// Create a subscriber for "rt/model/compressed_mask"
let subscriber = session
    .declare_subscriber("rt/model/compressed_mask")
    .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.model_msgs import CompressedMask

# Receive a message
msg = subscriber.recv()

# deserialize message
mask = CompressedMask.deserialize(msg.payload.to_bytes())

use edgefirst_schemas::model_msgs::CompressedMask;

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

let mask: CompressedMask = cdr::deserialize(&msg.payload().to_bytes())?;

Process the Data

The CompressedMask message contains compressed segmentation mask data. You can access various fields like:

PythonRust

# Access compressed mask parameters
width = mask.width
height = mask.height
data = mask.data  # Compressed mask data
class_id = mask.class_id

// Access compressed mask parameters
let width = mask.width;
let height = mask.height;
let data = mask.data;  // Compressed mask data
let class_id = mask.class_id;