Yolo Object Detection and Distance Measurement with Zed camera

you can test object detection and distance measurement with zed camera

How to use

You need to run this script like that python zed.py If you use tensorRT yolo, You need to run this script like that python zed_trt.py You need to edit the codes in zed.py line according to yourself.

The default values for weight, config, names file and ZED camera ID are

    config_path = "yolov4-tiny.cfg"
    weight_path = "yolov4-tiny.weights"
    meta_path = "coco.names"
    svo_path = None
    zed_id = 0

Download the model file, for instance Yolov4-Tiny

wget https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights

Making changes in the "zed.py" file

You need to edit the following lines in zed.py

Size should be changed according to image height and width value in .cfg file Default values are - width : 608, height : 608

98. model.setInputParams(size=(608, 608), scale=1/255, swapRB=True)

Run the application

To launch the ZED with YOLO simply run the script :

    python3 zed.py

The input parameters can be changed using the command line :

    python3 zed.py -c <config> -w <weight> -m <meta> -s <svo_file> -z <zed_id>

For instance :

    python3 zed.py -c yolov4-tiny.cfg -w yolov4-tiny.weights -m coco.names -z 1
    

For running with custom weights :

    python3 zed.py -c yolov4-custom.cfg -w yolov4-custom.weights -m obj.names -z 1

To display the help :

    python3 zed.py -h

that's all, if you have a zed camera you can easily find the distance of the objects you have detected

You can see how the program works in the gif below.