BreakerBots - ZED Depth Camera Object Detection For FRC

This is the co-processor side backend program to control a StereoLabs ZED depth camera for true 3D object detection with YOLOv8.

Features

• Optional visualization tools
  • The camera point cloud is displayed in a 3D OpenGL view
  • 3D bounding boxes around detected objects are drawn
• Easy configuration through JSON file
  • Set inference parameters, NN weight filepaths, camera video settings, depth calculation settings, and more
  • Ability to set per-class filtering parameters
• End-to-end CUDA acceleration
• Integrated NT publishing for FRC
  • Robot API available HERE (WIP)

Getting Started

• Get the latest ZED SDK and pyZED Package

Setting up (WIP)

• Install yolov8 using pip

pip install ultralytics

Run the program

NOTE: The ZED v1 is not compatible with this program

python detector.py --settings settings.json # [--svo path/to/file.svo]

Training your own model

This program can use any model trained with YOLOv8, including custom trained one. For a getting started on how to trained a model on a custom dataset with YOLOv5, see here https://docs.ultralytics.com/tutorials/train-custom-datasets/