SaliencyMapGenerator¶
This nodelet is used to compute the saliency of an image.
The image can be composed of any feature space. However, the current nodelet takes only 3 channel BGR image and computes the saliency map.
The original code is implemented by the authors of the paper: Human detection using a mobile platform and novel features derived from a visual saliency mechanism.
Please cite this paper should you use the code.
However, there are minor changes from the original code including the MultiThreading support using OpenMP.
Subscribing Topic¶
~input
(sensor_msgs/Image
)Currently only supports
BGR8
encoding (3 channel RGB intensity image)
Publishing Topic¶
/saliency_map_generator/output/saliency_map
(sensor_msgs/Image
)Output saliency map.
Parameters¶
~num_threads
(Int, default:2
)Number of threads used for execution
~fps
(Bool, default:true
)Prints the frame rate to the output image if true.
Sample¶
roslaunch jsk_perception sample_saliency_map_generator.launch