# SaliencyMapGenerator¶

This nodelet is used to compute the saliency of a image. The image can be composed to any feature space, however the current nodelet is takes only 3 channel RGB 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] (http://www.sciencedirect.com/science/article/pii/S0262885609001371). Please cite this paper should you use the code. However, there are minor changes to the original code including the MultiThreading support using OpenMP.

## Subscribing Topic¶

• ~input (sensor_msgs/Image)

Currently only supports “BGR8” (3 channel RGB intensity image)

## Publishing Topic¶

• ~output (sensor_msgs/Image)

## Parameters¶

• num_thread (Int, default: 2) Number of threads to used for execution
• print_fps (Bool, default: true) Prints the frame rate to the frame