OpenCv Python Toch

Hi guys, I need some help with a computer vision project, I have a Object detection project and I need to detect people and cars between 5-20 meters from the camera. I'm performing the object detection using yolov5 but i need help to measure the distance, by the way I need to run this on raspberry pi 4, i have the pi 4 and intel NCS 2,
this is the repo with my code: https://github.com/charbelGassibe/opencv-yolo5