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.

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.

• from lumaChroma.ini
  specifies the configuration file
• context lumaChroma
  specifies the sub-path from $ICUB_ROOT/icub/app to the configuration file
• –name lumaChroma
  
  specifies the name of the module (used to form the stem of module port names)
  
• –image \cyuv
  
  specifies the type of the module to work on (yuv or hsv)
  
• –out Y, UV, H, S, V
  specifies the output on the default port (y, uv, h, s, v). If nothing has been selected, eg –out without extra paramenter or simply without using –out, the default filter is Y for yuv image type and S for hsv image type

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.

• imageInputPort /image:i
  
  specifies the input port name (this string will be prefixed by /yuvProc or whatever else is specifed by the name parameter)
• YPort /Y/image:o
  
  specifies the output port name when YUV is selected(this string will be prefixed by /yuvProc or whatever else is specifed by the name parameter)
• UVPort /UV/image:o
  
  specifies the output port name when YUV is selected(this string will be prefixed by /yuvProc or whatever else is specifed by the name parameter)
• HPort /H/image:o
  
  specifies the output port name when HSV is selected(this string will be prefixed by /yuvProc or whatever else is specifed by the name parameter)
• SPort /S/image:o
  
  specifies the output port name when HSV is selected(this string will be prefixed by /yuvProc or whatever else is specifed by the name parameter)
• VPort /V/image:o
  
  specifies the output port name when HSV is selected(this string will be prefixed by /yuvProc or whatever else is specifed by the name parameter)
• VPort /image:o
  
  This contains the default image chosen by the user using the –out paramenter. This was added to simplify connections while changing image types for demo applications such as the IOL demo (interactiveObjectLearning) or KARMA demo. This string will be prefixed by /yuvProc or whatever else is specifed by the name parameter

Ports Accessed

• None

Ports Created

Input ports

• /lumaChroma
  This port is used to change the parameters of the module at run time or stop the module.
  The following commands are available

  help
quit
  Note that the name of this port mirrors whatever is provided by the –name parameter value The port is attached to the terminal so that you can type in commands and receive replies. The port can be used by other modules but also interactively by a user through the yarp rpc directive, viz.: yarp rpc /yuvProc This opens a connection from a terminal to the port and allows the user to then type in commands and receive replies.

• /lumaChroma/image:i
  Output ports
• /lumaChroma
  see above
• /lumaChroma/Y/image:o when YUV is selected
  
• /lumaChroma/UV/image:o when YUV is selected
  
• /lumaChroma/H/image:o when HSV is selected
  
• /lumaChroma/S/image:o when HSV is selected
  
• /lumaChroma/V/image:o when HSV is selected
  
• /lumaChroma/image:o default filter port is selected
  Port types

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.

Version:1.0

Author

Vadim Tikhanoff vadim.nosp@m..tik.nosp@m.hanof.nosp@m.f@ii.nosp@m.t.it

Copyright

Description

Parameters

• – name: Name of the module
• – from : specifies the configuration file
• – context : specifies the sub-path from $ICUB_ROOT/icub/app to the configuration file
• – image: specifies the type of the module to work on (yuv or hsv)
  
• – output : Y, UV, H, S, V specifies the output on the default port (y, uv, h, s, v)

Input Ports

• /lumaChroma/image:i [ImageOfPixelRgb] [default carrier:tcp]:
• /lumaChroma [Rpc] [default carrier:tcp]:

Output Ports

• /lumaChroma/Y/image:o [ImageOfPixelMono] [default carrier:udp]: when YUV is selected
• /lumaChroma/UV/image:o [ImageOfPixelMono] [default carrier:udp]: when YUV is selected
• /lumaChroma/H/image:o [ImageOfPixelMono] [default carrier:udp]: when HSV is selected
• /lumaChroma/S/image:o [ImageOfPixelMono] [default carrier:udp]: when HSV is selected
• /lumaChroma/V/image:o [ImageOfPixelMono] [default carrier:udp]: when HSV is selected
• /lumaChroma/image:o [ImageOfPixelMono] [default carrier:udp]: when HSV is selected

Services