# 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