Visual saliency algorithm as described at http://ilab.usc.edu/bu/
This algorithm finds the location in the camera's view that is the most attention-grabbing, conspicuous, or so-called salient. This location is marked on every video frame by the pink square. Salient locations detected on each frame are smoothed over time using a Kalman filter. The smoothed attention trajectory is shown with a green circle.
For an introduction to visual saliency computation, see http://ilab.usc.edu/bu/
This module can send standardized serial messages as described in Standardized serial messages formatting, where all coordinates and sizes are standardized using Helper functions to convert coordinates from camera resolution to standardized. One message is issued on every video frame at the temporally smoothed attended (most salient) location (green circle in the video display):
- Serial message type: 2D
id: always sm (shorthand for saliency map)
y: standardized 2D coordinates of temporally-filtered most salient point
h: standardized size of the pink square box around each attended point
extra: none (empty string)
See Standardized serial messages formatting for more on standardized serial messages, and Helper functions to convert coordinates from camera resolution to standardized for more info on standardized coordinates.