---
license: bsd-3-clause
language:
- en
base_model:
- YOLO26
pipeline_tag: depth-estimation
tags:
- WaveMatrix
- NPU
- yolo26-depth
---

# YOLO26-Depth

This repository provides an WaveMatrix NPU inference deployment example for the Ultralytics YOLO26-Depth depth-estimation model, including model conversion and WM9955 Python inference examples.

This version of YOLO26-Depth has been converted to run on the WaveMatrix NPU using mixed U8/U16 quantization for improved performance.

## Convert tools links:

For those who are interested in model conversion, you can try to export axmodel through
- [Pulsar2 Link, How to Convert ONNX to axmodel](https://pulsar2-docs.readthedocs.io/en/latest/pulsar2/introduction.html) 

## Support Platform

- WM9955
  - M.2 Accelerator card
- WM8845
  - Demo board

### Performance Statistics

WM9955 (NPU3 mode)

| 模型 | 分辨率 | 耗时(ms) | FPS | CMM(MiB) |
|---|---:|---:|---:|---:|
| yolo26n-depth | 768x768 | 5.83 | 171.53 | 7.97 |
| yolo26s-depth | 768x768 | 8.33 | 120.05 | 14.90 |
| yolo26m-depth | 768x768 | 16.37 | 61.09 | 36.36 |
| yolo26l-depth | 768x768 | 20.74 | 48.22 | 41.12 |
| yolo26x-depth | 768x768 | 39.19 | 25.52 | 93.37 |

WM8845 (NPU2 mode)

| 模型 | 分辨率 | 耗时(ms) | FPS | CMM(MiB) |
|---|---:|---:|---:|---:|
| yolo26n-depth | 768x768 | 27.67 | 36.14 | 15.65 |
| yolo26s-depth | 768x768 | 41.68 | 23.99 | 22.75 |
| yolo26m-depth | 768x768 | 74.02 | 13.51 | 47.10 |
| yolo26l-depth | 768x768 | 94.04 | 10.63 | 44.77 |
| yolo26x-depth | 768x768 | 169.09 | 5.91 | 84.50 |

## How to use

Download all files from this repository to the device

```shell
root@wm9955~/root/yolo26-depth# tree -L 2
.
├── asserts
│   ├── bus.jpg
│   ├── ssd_car_depth_heatmap_ax.png
│   ├── ssd_car_depth_heatmap_onnx.png
│   └── ssd_car.jpg
├── wm8845
│   ├── config.json
│   ├── yolo26l-depth_w8a8_mix.axmodel
│   ├── yolo26m-depth_w8a8_mix.axmodel
│   ├── yolo26n-depth_w8a8_mix.axmodel
│   ├── yolo26s-depth_w8a8_mix.axmodel
│   └── yolo26x-depth_w8a8_mix.axmodel
├── wm9955
│   ├── config.json
│   ├── yolo26l-depth_w8a8_mix.axmodel
│   ├── yolo26m-depth_w8a8_mix.axmodel
│   ├── yolo26n-depth_w8a8_mix.axmodel
│   ├── yolo26s-depth_w8a8_mix.axmodel
│   └── yolo26x-depth_w8a8_mix.axmodel
├── axengine-0.1.3-py3-none-any.whl
├── calib_data.zip
├── fold_depth_log.py
├── infer_depth.py
├── onnx
│   ├── yolo26l-depth.onnx
│   ├── yolo26m-depth.onnx
│   ├── yolo26n-depth.onnx
│   ├── yolo26s-depth.onnx
│   └── yolo26x-depth.onnx
├── README.md
└── requirements.txt

```

Inference with WM9955 Host, such as demo board

```shell
cd /root/yolo26-depth
pip3 install -r requirements.txt

pip3 install axengine-0.1.3-py3-none-any.whl

# wavematrix npu infer
python3 infer_depth.py --model ./wm9955/yolo26n-depth_w8a8_mix.axmodel --source ./asserts/ssd_car.jpg

# onnxtuntime cpu infer
python3 infer_depth.py --model ./onnx/yolo26n-depth.onnx --source ./asserts/ssd_car.jpg

```

wavematrix npu output:

![](./asserts/ssd_car_depth_heatmap_ax.png)