Modifying YOLOv8 Decoder Node for Segmentation Mask Extraction

I am currently exploring the use of a segmentation model for my project. To integrate this model, it appears necessary for me to adapt or develop a new decoder node. The current decoder node in the isaac_ros_yolov8 repository is designed for extracting bounding boxes, which does not align with my requirement for segmentation mask extraction.

Would it be feasible to modify the YOLOv8 decoder node, specifically the section responsible for bounding box extraction, to enable segmentation mask extraction instead? Or does this task require a more comprehensive overhaul than initially anticipated?

Any guidance or recommendations on how to approach this modification would be greatly appreciated.

Start with isaac_ros_yolov8/src/yolov8_decoder_node.cpp, especially the section that extracts bounding boxes. Determine whether the current decoder can support segmentation model outputs or requires a broader redesign; done would mean a defined approach for extracting segmentation masks, but the issue does not name tests or a target model.