24 yolo node for instance segmentation #32
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…e callback and use threshold parameter
…og to gitignore for ros2 building
…es to requirements
…with different names and ids
…t downloads. This allows for simple gitignore for all datasets
…ferences in output from models
5 tasks
- Reorder Dockerfile to create the non-root user before copying source code. - Add `chown` to workspace files to ensure the non-root user has write access. - Remove redundant `--user` flag in run.sh to rely on the image's configured user.
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kluge7
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Jan 4, 2026
vortex_image_segmentation/vortex_image_segmentation/yolo_seg.py
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vortex_image_segmentation/vortex_image_segmentation/yolo_seg_node.py
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…or-instance-segmentation
…it where the launch file changed from loading working dir params to loading params from share dir
…node-for-instance-segmentation
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jorgenfj
requested changes
Jan 8, 2026
vortex_image_segmentation/vortex_image_segmentation/yolo_seg_node.py
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vortex_image_segmentation/vortex_image_segmentation/yolo_seg_node.py
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vortex_image_segmentation/vortex_image_segmentation/yolo_seg_node.py
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jorgenfj
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Jan 9, 2026
jorgenfj
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jorgenfj
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Good job.
Future improvements: Support different image operations, like resizing and scaling.
Also add a short README for the seg node
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| pkg_share = get_package_share_directory('vortex_image_segmentation') | ||
| yolo_params = os.path.join(pkg_share, 'params', 'yolo_params.yaml') |
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Ehh, actually. 🤓
We don't need the intermediate pkg_share variable here
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| compile: True | ||
| retina_masks: False # We dont need high res masks |
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Me no understand...
Explain these parameters 🧙
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| node_params = self.load_node_params() | ||
| self.input_topic: str = node_params.input_topic | ||
| self.output_bbox_topic: str = node_params.output_bbox_topic | ||
| self.output_mask_topic: str = node_params.output_mask_topic | ||
| self.debug_topic: str = node_params.debug_topic | ||
| self.pub_bbox: bool = node_params.pub_bbox | ||
| self.pub_mask: bool = node_params.pub_mask | ||
| self.pub_debug: bool = node_params.pub_debug |
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Could just keep the struct as the only member variable
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| self.debug_publisher: Optional[Publisher] = None | ||
| self.bbox_pub: Optional[Publisher] = None | ||
| self.mask_pub: Optional[Publisher] = None |
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Remove this. Just guard with if whenever we use the publishers
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| # compile=self.params.compile, | ||
| ) |
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| self.publish_bboxes_and_confidences(result, msg.header) | ||
| self.publish_masks(result, msg.header) | ||
| self.publish_debug_image(result, msg.header) |
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Prefer guarding outside the function instead of inside the function call
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| if getattr(self, "mask_pub", None) is None: | ||
| return |
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These can be removed if we guard outside the function
| *.swo | ||
| node_modules/ | ||
| bags/ | ||
| rosbags/ |
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| data/ | ||
| rosbags/ |
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