How can i use ZED camera for this approach?

[AloysiusChua0822]

Search before asking

• I have searched the Yolo Tracking issues and found no similar bug report.

Question

Hi, I am currently playing around with a ZED camera, is it possible to intergrate this tracker with ZED camera, highly appreciate on your guidance.

[mikel-brostrom]

Maybe something like this?

import cv2
import numpy as np
from pathlib import Path
import pyzed.sl as sl

from boxmot import DeepOCSORT

# Initialize the ZED camera
zed = sl.Camera()
init_params = sl.InitParameters()
init_params.camera_resolution = sl.RESOLUTION.HD720
init_params.coordinate_units = sl.UNIT.METER
init_params.depth_mode = sl.DEPTH_MODE.ULTRA

if not zed.is_opened():
    print("Opening ZED Camera...")
status = zed.open(init_params)
if status != sl.ERROR_CODE.SUCCESS:
    print(f"Error opening ZED camera: {status}")
    exit(1)

runtime_params = sl.RuntimeParameters()
mat = sl.Mat()

tracker = DeepOCSORT(
    model_weights=Path('osnet_x0_25_msmt17.pt'),  # which ReID model to use
    device='cuda:0',
    fp16=False,
)

while True:
    # Grab an image from the ZED camera
    if zed.grab(runtime_params) == sl.ERROR_CODE.SUCCESS:
        zed.retrieve_image(mat, sl.VIEW.LEFT)
        im = mat.get_data()

        # substitute by your object detector, output has to be N X (x, y, x, y, conf, cls)
        dets = np.array([[144, 212, 578, 480, 0.82, 0],
                        [425, 281, 576, 472, 0.56, 65]])

        # Check if there are any detections
        if dets.size > 0:
            tracker.update(dets, im)  # --> M X (x, y, x, y, id, conf, cls, ind)
        else:
            dets = np.empty((0, 6))  # empty N X (x, y, x, y, conf, cls)
            tracker.update(dets, im)  # --> M X (x, y, x, y, id, conf, cls, ind)
        tracker.plot_results(im, show_trajectories=True)

        # break on pressing q or space
        cv2.imshow('BoxMOT detection', im)
        key = cv2.waitKey(1) & 0xFF
        if key == ord(' ') or key == ord('q'):
            break

zed.close()
cv2.destroyAllWindows()

You of course need an object detector as well

[github-actions]

👋 Hello, this issue has been automatically marked as stale because it has not had recent activity. Please note it will be closed if no further activity occurs.
Feel free to inform us of any other issues you discover or feature requests that come to mind in the future. Pull Requests (PRs) are also always welcomed!

[AloysiusChua0822]

Thankss! It works really well