Another small hack and we are inching closer to a generally usable approach. This yet needs to be checked on lower end machines. Currently the tracking processing speed for a single fiducial setting

on Core 2 Duo systems comes in at the following processing cost (Intel Core 2 Duo 2.4 or 2.0 GHz, measured on Ubuntu Linux 7.10 and Mac OS X 10.5.2):

On Linux (2.0 GHz machine, measured with a PointGrey Flea 1024x768):

• 18353.74 pixel/ms
• normalized to 640x480: 16.74ms (theoretical saturated capture rate: 60fps)

On Mac OS X (2.4 GHz MacBook Pro, measured with the built in iSight 1280x1024)

• 15654.19 pixel/ms
• normalized to 640x480: 19.62ms (theoretical saturated capture rate: 51fps)

On Windows (2.0 GHz machine, measured with Logitech 9000 Pro, 320x240)

• 26482.76 pixel/ms
• normalized to 640x480: 11.6ms (theoretical saturated capture rate: 86fps)

On Windows (2.0 GHz machine, measured with AVI prerecorded, 640x480)

• 17066.7 pixel/ms
• normalized to 640x480: 18.0 ms (theoretical saturated capture rate: 55fps)

On the Mac the biggest problem for good framerates is the very bad capturing code in OpenCV which is easy to circumvent. Same holds true for Windows using VfW.