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] ( 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)


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