24 yolo node for instance segmentation #32

MadsJJ · 2025-11-14T19:55:51Z

Issue

Closes YOLO node for instance segmentation #24

Changes

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

Additional info

This branch currently has all the changes in Dockerize repo #29 and 30 create a yolo training script #31, and those should be merged first.

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

…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

…y script

…ferences in output from models

…it where the launch file changed from loading working dir params to loading params from share dir

…node-for-instance-segmentation

codecov · 2026-01-07T12:04:28Z

Codecov Report

❌ Patch coverage is 0% with 146 lines in your changes missing coverage. Please review.
✅ Project coverage is 0.00%. Comparing base (8ca393d) to head (59e6f5b).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...ntation/vortex_image_segmentation/yolo_seg_node.py	0.00%	117 Missing ⚠️
...segmentation/vortex_image_segmentation/yolo_seg.py	0.00%	25 Missing ⚠️
vortex_image_segmentation/setup.py	0.00%	4 Missing ⚠️

Additional details and impacted files

@@          Coverage Diff          @@
##           main     #32    +/-   ##
=====================================
  Coverage      0   0.00%            
=====================================
  Files         0       3     +3     
  Lines         0     146   +146     
  Branches      0      14    +14     
=====================================
- Misses        0     146   +146

Flag	Coverage Δ
unittests	`0.00% <0.00%> (?)`

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
vortex_image_segmentation/setup.py	`0.00% <0.00%> (ø)`
...segmentation/vortex_image_segmentation/yolo_seg.py	`0.00% <0.00%> (ø)`
...ntation/vortex_image_segmentation/yolo_seg_node.py	`0.00% <0.00%> (ø)`

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vortex_image_segmentation/vortex_image_segmentation/yolo_seg_node.py

…e can be used for different purposes

jorgenfj

Good job.
Future improvements: Support different image operations, like resizing and scaling.
Also add a short README for the seg node

vortex_image_segmentation/launch/yolo_segmentation.launch.py

vortex_image_segmentation/params/yolo_params.yaml

vortex_image_segmentation/vortex_image_segmentation/yolo_seg_node.py

vortex_image_segmentation/vortex_image_segmentation/yolo_seg.py

vortex_image_segmentation/vortex_image_segmentation/yolo_seg_node.py

.dockerignore

.gitignore

- ignore rosbags and bags in gitignore and dockerignore - remove pkg_share variale in launch file - keep param struct as only member variable - guard outside function instead of inside - remove retina mask param as we would never need it

jorgenfj

https://peps.python.org/pep-0008/#naming-conventions
Consider using leading underscores to signify internal member variables

jorgenfj

lgtm

jorgenfj

lgtm

MadsJJ added 30 commits October 22, 2025 13:55

Create ros2 package boilerplate for image segmentation nodes

e8785e9

Add UNet and YOLO segmentation nodes with entry points in setup.py

8492b91

create simple launch file

74f1e85

add parameter files for unet, yolo and common

0884e29

remove duplicates from requirements.txt

56a894e

add blending of image and mask to the base node. Also update the imag…

dae704f

…e callback and use threshold parameter

create Dockerfile, and build and run script. Add install, build and l…

8e12da2

…og to gitignore for ros2 building

add training script for yolo model training with roboflow. add packag…

712692d

…es to requirements

make training script usable without cuda

0575b16

add separate requirements file for training script

8ad50bc

remove requirements only needed for training

c731202

upgrde packages in requirements in yolo training

74fb5bf

looks like training on instance segmentation might be working

3319e8c

gitignore OS generated files

fee9c53

change model type to segmentation model

21e82d5

add worker amount to be half of cpu count

13ac688

change project_name to project_id to clear up confusion for projects …

13e5bd5

…with different names and ids

change from os paths to Pathlib. Also create parent folder for datase…

c49673c

…t downloads. This allows for simple gitignore for all datasets

format

be47cc6

add patience parameter to model

14a3951

gitignore .vscode folder

b7fe81c

add devcontainer file

8f178c9

remove annoying pylint

7443658

add dockerignore

e4d9c5e

gitignore bags

7b248d8

improve python dependency caching in dockerfile

f0e2392

forgotten in previous commit

8232a57

move bashrc sourcing to a script (wont need to rebuild image to modif…

4e5e0fb

…y script

add two launch files (yolo and unet)

633549d

change image_callback to abstract method in base node, because of dif…

0922ca2

…ferences in output from models

MadsJJ added 8 commits January 6, 2026 12:03

fix: image name used by devcontainer

ad75676

add: package description and maintainer

7a6a964

fix: use get_package_share_directory for non docker users

b63d01d

add: type hints

6353e43

update: remove unnecessary requirements

4fcede2

fix: install params file to shared folder. this fixes the broken comm…

ae382a3

…it where the launch file changed from loading working dir params to loading params from share dir

update: move hardcoded params to params file.

28d2591

Merge commit '8ca393d01e24fafc94309880380edf2940746565' into 24-yolo-…

7f4b544

…node-for-instance-segmentation

MadsJJ requested a review from kluge7 January 6, 2026 16:11

remove: tests

878abfc

MadsJJ marked this pull request as ready for review January 7, 2026 12:04

jorgenfj requested changes Jan 8, 2026

View reviewed changes

MadsJJ added 3 commits January 8, 2026 16:32

update: confitionally initialize debug_pub based on debug flag

77e7523

add: parameterization for publishing mask and bbox. this way, the nod…

65935e1

…e can be used for different purposes

add: retina_masks parameter and only publish one merged mask image

8618fa5

MadsJJ requested a review from jorgenfj January 9, 2026 13:44

jorgenfj requested changes Jan 9, 2026

View reviewed changes

fix: adress jorgen PR review comments

b66b300

- ignore rosbags and bags in gitignore and dockerignore - remove pkg_share variale in launch file - keep param struct as only member variable - guard outside function instead of inside - remove retina mask param as we would never need it

MadsJJ requested a review from jorgenfj January 14, 2026 16:35

rename: more descriptive topics

573e93b

jorgenfj requested changes Jan 14, 2026

View reviewed changes

refactor: add leading underscores to internal variables per PEP 8

908f532

MadsJJ requested a review from jorgenfj January 15, 2026 19:24

jorgenfj previously approved these changes Jan 15, 2026

View reviewed changes

add: README

59e6f5b

MadsJJ dismissed jorgenfj’s stale review via 59e6f5b January 15, 2026 20:27

jorgenfj approved these changes Jan 15, 2026

View reviewed changes

jorgenfj merged commit ee255e2 into main Jan 15, 2026
4 checks passed

jorgenfj deleted the 24-yolo-node-for-instance-segmentation branch January 15, 2026 20:32

24 yolo node for instance segmentation #32

24 yolo node for instance segmentation #32

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MadsJJ commented Nov 14, 2025 •

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