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24 yolo node for instance segmentation #32

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24 yolo node for instance segmentation #32

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@MadsJJ MadsJJ commented Nov 14, 2025 •
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Issue

Changes

  • Add yolo implementation
  • Add yolo node publishing both the seg mask and bbox with confidence

Additional info

Testing

  • Tested by using a using the debug topic in foxglove on the tacc2024 pipeline rosbag, using a minimal locally trained model.
  • Mask topic is also tested in foxglove.
  • Bbox topic has not been tested visually

MadsJJ added 30 commits October 22, 2025 13:55
@MadsJJ
Create ros2 package boilerplate for image segmentation nodes
e8785e9
@MadsJJ
Add UNet and YOLO segmentation nodes with entry points in setup.py
8492b91
@MadsJJ
create simple launch file
74f1e85
@MadsJJ
add parameter files for unet, yolo and common
0884e29
@MadsJJ
remove duplicates from requirements.txt
56a894e
@MadsJJ
add blending of image and mask to the base node. Also update the imag…
dae704f 
…e callback and use threshold parameter
@MadsJJ
create Dockerfile, and build and run script. Add install, build and l…
8e12da2 
…og to gitignore for ros2 building
@MadsJJ
add training script for yolo model training with roboflow. add packag…
712692d 
…es to requirements
@MadsJJ
make training script usable without cuda
0575b16
@MadsJJ
add separate requirements file for training script
8ad50bc
@MadsJJ
remove requirements only needed for training
c731202
@MadsJJ
upgrde packages in requirements in yolo training
74fb5bf
@MadsJJ
looks like training on instance segmentation might be working
3319e8c
@MadsJJ
gitignore OS generated files
fee9c53
@MadsJJ
change model type to segmentation model
21e82d5
@MadsJJ
add worker amount to be half of cpu count
13ac688
@MadsJJ
change project_name to project_id to clear up confusion for projects …
13e5bd5 
…with different names and ids
@MadsJJ
change from os paths to Pathlib. Also create parent folder for datase…
c49673c 
…t downloads. This allows for simple gitignore for all datasets
@MadsJJ
format
be47cc6
@MadsJJ
add patience parameter to model
14a3951
@MadsJJ
gitignore .vscode folder
b7fe81c
@MadsJJ
add devcontainer file
8f178c9
@MadsJJ
remove annoying pylint
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@MadsJJ
add dockerignore
e4d9c5e
@MadsJJ
gitignore bags
7b248d8
@MadsJJ
improve python dependency caching in dockerfile
f0e2392
@MadsJJ
forgotten in previous commit
8232a57
@MadsJJ
move bashrc sourcing to a script (wont need to rebuild image to modif…
4e5e0fb 
…y script
@MadsJJ
add two launch files (yolo and unet)
633549d
@MadsJJ
change image_callback to abstract method in base node, because of dif…
0922ca2 
…ferences in output from models
MadsJJ added 13 commits November 2, 2025 12:46
@MadsJJ MadsJJ requested review from gardeg, jorgenfj and kluge7 November 14, 2025 19:55
@MadsJJ MadsJJ self-assigned this Nov 14, 2025
@MadsJJ MadsJJ added the enhancement New feature or request label Nov 14, 2025
@MadsJJ MadsJJ linked an issue Nov 14, 2025 that may be closed by this pull request
YOLO node for instance segmentation #24
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@kluge7 kluge7 Awaiting requested review from kluge7

@jorgenfj jorgenfj Awaiting requested review from jorgenfj

@gardeg gardeg Awaiting requested review from gardeg

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YOLO node for instance segmentation

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@MadsJJ