iCub-main
lumaChroma

Receives an rgb image, depending on the image type the user wants to work on (YUV or HSV) the module extracts the Y, U and V or H, S, and V planes and performs centre-surround processing with a construction of uniqueness maps (intensity saliency, colour, hue, saturation and value ) via a difference-of-Gaussian pyramid filter bank. More...

+ Collaboration diagram for lumaChroma:

Receives an rgb image, depending on the image type the user wants to work on (YUV or HSV) the module extracts the Y, U and V or H, S, and V planes and performs centre-surround processing with a construction of uniqueness maps (intensity saliency, colour, hue, saturation and value ) via a difference-of-Gaussian pyramid filter bank.

Libraries

YARP OpenCV (version >= 2.0)

Parameters

Command-line Parameters

The following key-value pairs can be specified as command-line parameters by prefixing to the key (e.g. –from file.ini. The value part can be changed to suit your needs; the default values are shown below.

Configuration File Parameters

The following key-value pairs can be specified as parameters in the configuration file (they can also be specified as command-line parameters if you so wish). The value part can be changed to suit your needs; the default values are shown below.

Ports Accessed

Ports Created

Input ports

The functional specification only names the ports to be used to communicate with the module but doesn't say anything about the data transmitted on the ports. This is defined by the following code.

BufferedPort<ImageOf<PixelRgb> > inputPort;
BufferedPort<ImageOf<PixelMono> > outPortY; BufferedPort<ImageOf<PixelMono> > outPortUV; BufferedPort<ImageOf<PixelMono> > outPortV; BufferedPort<ImageOf<PixelMono> > defaultPortOut;

Input Data Files

None

Output Data Files

None

Configuration Files

lumaChroma.ini in $ICUB_ROOT/app/lumaChroma/conf

Tested OS

Linux: Ubuntu 9.10, Debian Stable, squeeze and windows

Example Instantiation of the Module

lumaChroma –name lumaChroma –image yuv (or hsv) –out Y –context lumaChroma –from config.ini

Author

Vadim Tikhanoff

Copyright (C) 2009 RobotCub Consortium

CopyPolicy: Released under the terms of the GNU GPL v2.0.