Stereolabs ZED depth camera with YOLO

The Stereolabs ZED camera is a quite effective way of generating depth-enhanced video streams and it seemed like it was time to get one and integrate it with rt-ai. I have worked with one of these before in a different context and I knew that using the ZED was pretty straightforward.

The screen capture above shows the ZED YOLO C++ example code running. The mug in the shot was a bit too close to the monitor to get picked up and my hand was probably too close in general hence the strange 4.92m depth reading. However, it does seem to work pretty well. It even picked up the image of the monitor on the screen as a monitor.

Just as a note, I did have to modify the main.cpp code to run. At line 49, I had to add a std:: in front of an isfinite() call for some reason. Maybe something odd on my Ubuntu system. Also, to get the standard samples to build, I had to add libxmu-dev as another dependency.

Now comes the task of adding this to rt-ai. I am going to split this into two: the first is to produce a new camera SPE that works with the ZED and outputs the depth image in addition to the normal camera image. Then, the CYOLO SPE will be modified to accept optional depth information and perform the processing to generate the actual object depth value. This seems like a more general solution as the ZED SPE then looks like a standard depth camera while the upgraded CYOLO will be able to work with any depth camera.