RoBIOS/RoBIOS_3.1.html

   1 <HTML>
   2 <HEAD>
   3 <TITLE>Timing of RoBIOS functions</TITLE>
   4 </HEAD>
   5
   6 <BODY>
   7 <BR><BR>
   8 <H1 ALIGN=CENTER>Timing of RoBIOS functions</H1>
   9 <BR><BR>
  10
  11 <TABLE ALIGN=CENTER CELLPADDING=2 CELLSPACING=0 BORDER=1>
  12 <TR>
  13 <TH COLSPAN=3>AUDIO functions</TH>
  14 </TR>
  15
  16 <TR>
  17 <TD COLSPAN=3 ALIGN=CENTER>
  18 Tested on Robot A (1) Running RoBIOS version 3.1  with Eyecam at 35.7 Mhz
  19 </TD>
  20 </TR>
  21
  22 <TR>
  23 <TD>Function(parameters)</TD>
  24 <TD>microseconds per call</TD>
  25 <TD>Number of calls per second</TD>
  26 </TR>
  27
  28 <TR>
  29 <TD>AUBeep()</TD>
  30 <TD ALIGN="RIGHT">102774.92</TD>
  31 <TD ALIGN="RIGHT">9.73</TD>
  32 </TR>
  33
  34 <TR>
  35 <TD>AUCaptureMic()</TD>
  36 <TD ALIGN="RIGHT">17.69</TD>
  37 <TD ALIGN="RIGHT">56529.37</TD>
  38 </TR>
  39
  40 <TR>
  41 <TD>AUCheckRecord()</TD>
  42 <TD ALIGN="RIGHT">5.68</TD>
  43 <TD ALIGN="RIGHT">176182.97</TD>
  44 </TR>
  45
  46 <TR>
  47 <TD>AUCheckSample()</TD>
  48 <TD ALIGN="RIGHT">5.68</TD>
  49 <TD ALIGN="RIGHT">176182.75</TD>
  50 </TR>
  51
  52 <TR>
  53 <TD>AUCheckTone()</TD>
  54 <TD ALIGN="RIGHT">5.68</TD>
  55 <TD ALIGN="RIGHT">176182.97</TD>
  56 </TR>
  57
  58 <TR>
  59 <TH COLSPAN=3>Camera functions</TH>
  60 </TR>
  61
  62 <TR>
  63 <TD COLSPAN=3 ALIGN=CENTER>
  64 Tested on Robot A (1) Running RoBIOS version 3.1  with Eyecam at 35.7 Mhz
  65 </TD>
  66 </TR>
  67
  68 <TR>
  69 <TD>Function(parameters)</TD>
  70 <TD>microseconds per call</TD>
  71 <TD>Number of calls per second</TD>
  72 </TR>
  73
  74 <TR>
  75 <TD>CAMGet(&i,&h,&s)</TD>
  76 <TD ALIGN="RIGHT">12.94</TD>
  77 <TD ALIGN="RIGHT">77265.34</TD>
  78 </TR>
  79
  80 <TR>
  81 <TD>CAMGetColFrame(&cimg, 0)</TD>
  82 <TD ALIGN="RIGHT">265957.45</TD>
  83 <TD ALIGN="RIGHT">3.76</TD>
  84 </TR>
  85
  86 <TR>
  87 <TD>CAMGetColFrame(&cimg, 1)</TD>
  88 <TD ALIGN="RIGHT">265957.45</TD>
  89 <TD ALIGN="RIGHT">3.76</TD>
  90 </TR>
  91
  92 <TR>
  93 <TD>CAMGetFrame(&img)</TD>
  94 <TD ALIGN="RIGHT">265957.45</TD>
  95 <TD ALIGN="RIGHT">3.76</TD>
  96 </TR>
  97
  98 <TR>
  99 <TD>CAMMode(AUTOBRIGHTNESS)</TD>
 100 <TD ALIGN="RIGHT">265957.45</TD>
 101 <TD ALIGN="RIGHT">3.76</TD>
 102 </TR>
 103
 104 <TR>
 105 <TD>CAMSet(0,0,0)</TD>
 106 <TD ALIGN="RIGHT">6.74</TD>
 107 <TD ALIGN="RIGHT">148428.43</TD>
 108 </TR>
 109
 110 <TR>
 111 <TD>CAMSet(127,127,127)</TD>
 112 <TD ALIGN="RIGHT">7.60</TD>
 113 <TD ALIGN="RIGHT">131507.11</TD>
 114 </TR>
 115
 116 <TR>
 117 <TD>CAMSet(255,255,255)</TD>
 118 <TD ALIGN="RIGHT">7.60</TD>
 119 <TD ALIGN="RIGHT">131506.99</TD>
 120 </TR>
 121
 122 <TR>
 123 <TH COLSPAN=3>Camera functions</TH>
 124 </TR>
 125
 126 <TR>
 127 <TD COLSPAN=3 ALIGN=CENTER>
 128 Tested on Robot Gavin (4) Running RoBIOS version 3.1  with Color Quickcam at 35.7 Mhz
 129 </TD>
 130 </TR>
 131
 132 <TR>
 133 <TD>Function(parameters)</TD>
 134 <TD>microseconds per call</TD>
 135 <TD>Number of calls per second</TD>
 136 </TR>
 137
 138 <TR>
 139 <TD>CAMGet(&i,&h,&s)</TD>
 140 <TD ALIGN="RIGHT">14.99</TD>
 141 <TD ALIGN="RIGHT">66707.10</TD>
 142 </TR>
 143
 144 <TR>
 145 <TD>CAMGetColFrame(&cimg, 0)</TD>
 146 <TD ALIGN="RIGHT">641025.64</TD>
 147 <TD ALIGN="RIGHT">1.56</TD>
 148 </TR>
 149
 150 <TR>
 151 <TD>CAMGetColFrame(&cimg, 1)</TD>
 152 <TD ALIGN="RIGHT">645161.29</TD>
 153 <TD ALIGN="RIGHT">1.55</TD>
 154 </TR>
 155
 156 <TR>
 157 <TD>CAMGetFrame(&img)</TD>
 158 <TD ALIGN="RIGHT">10.49</TD>
 159 <TD ALIGN="RIGHT">95318.80</TD>
 160 </TR>
 161
 162 <TR>
 163 <TD>CAMMode(AUTOBRIGHTNESS)</TD>
 164 <TD ALIGN="RIGHT">9.96</TD>
 165 <TD ALIGN="RIGHT">100439.42</TD>
 166 </TR>
 167
 168 <TR>
 169 <TD>CAMSet(0,0,0)</TD>
 170 <TD ALIGN="RIGHT">14.34</TD>
 171 <TD ALIGN="RIGHT">69726.90</TD>
 172 </TR>
 173
 174 <TR>
 175 <TD>CAMSet(127,127,127)</TD>
 176 <TD ALIGN="RIGHT">14.82</TD>
 177 <TD ALIGN="RIGHT">67466.27</TD>
 178 </TR>
 179
 180 <TR>
 181 <TD>CAMSet(255,255,255)</TD>
 182 <TD ALIGN="RIGHT">14.82</TD>
 183 <TD ALIGN="RIGHT">67466.27</TD>
 184 </TR>
 185
 186 <TR>
 187 <TH COLSPAN=3>Key functions</TH>
 188 </TR>
 189
 190 <TR>
 191 <TD COLSPAN=3 ALIGN=CENTER>
 192 Tested on Robot A (1) Running RoBIOS version 3.1  with Eyecam at 35.7 Mhz
 193 </TD>
 194 </TR>
 195
 196 <TR>
 197 <TD>Function(parameters)</TD>
 198 <TD>microseconds per call</TD>
 199 <TD>Number of calls per second</TD>
 200 </TR>
 201
 202 <TR>
 203 <TD>KEYRead()</TD>
 204 <TD ALIGN="RIGHT">442.00</TD>
 205 <TD ALIGN="RIGHT">2262.44</TD>
 206 </TR>
 207
 208 <TR>
 209 <TH COLSPAN=3>LCD functions</TH>
 210 </TR>
 211
 212 <TR>
 213 <TD COLSPAN=3 ALIGN=CENTER>
 214 Tested on Robot Gavin (4) Running RoBIOS version 3.1  with Color Quickcam at 35.7 Mhz
 215 </TD>
 216 </TR>
 217
 218 <TR>
 219 <TD>Function(parameters)</TD>
 220 <TD>microseconds per call</TD>
 221 <TD>Number of calls per second</TD>
 222 </TR>
 223
 224 <TR>
 225 <TD>LCDArea(1,1,2,2,1)</TD>
 226 <TD ALIGN="RIGHT">246.88</TD>
 227 <TD ALIGN="RIGHT">4050.59</TD>
 228 </TR>
 229
 230 <TR>
 231 <TD>LCDArea(1,1,2,2,2)</TD>
 232 <TD ALIGN="RIGHT">251.22</TD>
 233 <TD ALIGN="RIGHT">3980.52</TD>
 234 </TR>
 235
 236 <TR>
 237 <TD>LCDArea(1,1,32,32,1)</TD>
 238 <TD ALIGN="RIGHT">58241.12</TD>
 239 <TD ALIGN="RIGHT">17.17</TD>
 240 </TR>
 241
 242 <TR>
 243 <TD>LCDArea(1,1,64,64,1)</TD>
 244 <TD ALIGN="RIGHT">14.54</TD>
 245 <TD ALIGN="RIGHT">68781.05</TD>
 246 </TR>
 247
 248 <TR>
 249 <TD>LCDArea(1,1,8,8,1)</TD>
 250 <TD ALIGN="RIGHT">3658.18</TD>
 251 <TD ALIGN="RIGHT">273.36</TD>
 252 </TR>
 253
 254 <TR>
 255 <TD>LCDArea(1,1,8,8,2)</TD>
 256 <TD ALIGN="RIGHT">3669.05</TD>
 257 <TD ALIGN="RIGHT">272.55</TD>
 258 </TR>
 259
 260 <TR>
 261 <TD>LCDCPutGraphic(&cimg1)</TD>
 262 <TD ALIGN="RIGHT">21253.99</TD>
 263 <TD ALIGN="RIGHT">47.05</TD>
 264 </TR>
 265
 266 <TR>
 267 <TD>LCDClear()</TD>
 268 <TD ALIGN="RIGHT">56242.97</TD>
 269 <TD ALIGN="RIGHT">17.78</TD>
 270 </TR>
 271
 272 <TR>
 273 <TD>LCDGetPixel(1,1)</TD>
 274 <TD ALIGN="RIGHT">41.82</TD>
 275 <TD ALIGN="RIGHT">23914.52</TD>
 276 </TR>
 277
 278 <TR>
 279 <TD>LCDInvertPixel(1,1)</TD>
 280 <TD ALIGN="RIGHT">56.96</TD>
 281 <TD ALIGN="RIGHT">17556.31</TD>
 282 </TR>
 283
 284 <TR>
 285 <TD>LCDLine(1,1,1,64,1)</TD>
 286 <TD ALIGN="RIGHT">16.06</TD>
 287 <TD ALIGN="RIGHT">62275.91</TD>
 288 </TR>
 289
 290 <TR>
 291 <TD>LCDLine(1,1,1,64,2)</TD>
 292 <TD ALIGN="RIGHT">16.06</TD>
 293 <TD ALIGN="RIGHT">62275.91</TD>
 294 </TR>
 295
 296 <TR>
 297 <TD>LCDLine(1,1,32,32,1)</TD>
 298 <TD ALIGN="RIGHT">1896.67</TD>
 299 <TD ALIGN="RIGHT">527.24</TD>
 300 </TR>
 301
 302 <TR>
 303 <TD>LCDLine(1,1,64,1,1)</TD>
 304 <TD ALIGN="RIGHT">3714.16</TD>
 305 <TD ALIGN="RIGHT">269.24</TD>
 306 </TR>
 307
 308 <TR>
 309 <TD>LCDLine(1,1,64,1,2)</TD>
 310 <TD ALIGN="RIGHT">3716.64</TD>
 311 <TD ALIGN="RIGHT">269.06</TD>
 312 </TR>
 313
 314 <TR>
 315 <TD>LCDLine(1,1,64,64,1)</TD>
 316 <TD ALIGN="RIGHT">16.06</TD>
 317 <TD ALIGN="RIGHT">62275.91</TD>
 318 </TR>
 319
 320 <TR>
 321 <TD>LCDMenu("one","two","thre","four")</TD>
 322 <TD ALIGN="RIGHT">1533.81</TD>
 323 <TD ALIGN="RIGHT">651.97</TD>
 324 </TR>
 325
 326 <TR>
 327 <TD>LCDMenuI(1,"one")</TD>
 328 <TD ALIGN="RIGHT">428.09</TD>
 329 <TD ALIGN="RIGHT">2335.98</TD>
 330 </TR>
 331
 332 <TR>
 333 <TD>LCDMenuI(2,"two")</TD>
 334 <TD ALIGN="RIGHT">428.09</TD>
 335 <TD ALIGN="RIGHT">2335.98</TD>
 336 </TR>
 337
 338 <TR>
 339 <TD>LCDMenuI(3,"thre")</TD>
 340 <TD ALIGN="RIGHT">428.72</TD>
 341 <TD ALIGN="RIGHT">2332.51</TD>
 342 </TR>
 343
 344 <TR>
 345 <TD>LCDMenuI(4,"four")</TD>
 346 <TD ALIGN="RIGHT">428.72</TD>
 347 <TD ALIGN="RIGHT">2332.51</TD>
 348 </TR>
 349
 350 <TR>
 351 <TD>LCDMode(CURSOR)</TD>
 352 <TD ALIGN="RIGHT">15.44</TD>
 353 <TD ALIGN="RIGHT">64769.39</TD>
 354 </TR>
 355
 356 <TR>
 357 <TD>LCDMode(SCROLLING)</TD>
 358 <TD ALIGN="RIGHT">15.02</TD>
 359 <TD ALIGN="RIGHT">66585.96</TD>
 360 </TR>
 361
 362 <TR>
 363 <TD>LCDPutChar(c)</TD>
 364 <TD ALIGN="RIGHT">520.60</TD>
 365 <TD ALIGN="RIGHT">1920.87</TD>
 366 </TR>
 367
 368 <TR>
 369 <TD>LCDPutGraphic(&img1)</TD>
 370 <TD ALIGN="RIGHT">13259.08</TD>
 371 <TD ALIGN="RIGHT">75.42</TD>
 372 </TR>
 373
 374 <TR>
 375 <TD>LCDPutHex(i)</TD>
 376 <TD ALIGN="RIGHT">4250.07</TD>
 377 <TD ALIGN="RIGHT">235.29</TD>
 378 </TR>
 379
 380 <TR>
 381 <TD>LCDPutHex1(i)</TD>
 382 <TD ALIGN="RIGHT">1063.33</TD>
 383 <TD ALIGN="RIGHT">940.44</TD>
 384 </TR>
 385
 386 <TR>
 387 <TD>LCDPutImage((BYTE*)img1)</TD>
 388 <TD ALIGN="RIGHT">6275.10</TD>
 389 <TD ALIGN="RIGHT">159.36</TD>
 390 </TR>
 391
 392 <TR>
 393 <TD>LCDPutInt(i)</TD>
 394 <TD ALIGN="RIGHT">4260.94</TD>
 395 <TD ALIGN="RIGHT">234.69</TD>
 396 </TR>
 397
 398 <TR>
 399 <TD>LCDPutIntS(i,6)</TD>
 400 <TD ALIGN="RIGHT">4254.23</TD>
 401 <TD ALIGN="RIGHT">235.06</TD>
 402 </TR>
 403
 404 <TR>
 405 <TD>LCDPutString("Testing\n")</TD>
 406 <TD ALIGN="RIGHT">7889.55</TD>
 407 <TD ALIGN="RIGHT">126.75</TD>
 408 </TR>
 409
 410 <TR>
 411 <TD>LCDSetChar(1,1,c)</TD>
 412 <TD ALIGN="RIGHT">127.87</TD>
 413 <TD ALIGN="RIGHT">7820.14</TD>
 414 </TR>
 415
 416 <TR>
 417 <TD>LCDSetChar(10,10,c)</TD>
 418 <TD ALIGN="RIGHT">127.87</TD>
 419 <TD ALIGN="RIGHT">7820.14</TD>
 420 </TR>
 421
 422 <TR>
 423 <TD>LCDSetPixel(1,1,0)</TD>
 424 <TD ALIGN="RIGHT">59.99</TD>
 425 <TD ALIGN="RIGHT">16669.56</TD>
 426 </TR>
 427
 428 <TR>
 429 <TD>LCDSetPixel(1,1,1)</TD>
 430 <TD ALIGN="RIGHT">57.92</TD>
 431 <TD ALIGN="RIGHT">17265.44</TD>
 432 </TR>
 433
 434 <TR>
 435 <TD>LCDSetPixel(1,1,2)</TD>
 436 <TD ALIGN="RIGHT">59.88</TD>
 437 <TD ALIGN="RIGHT">16701.46</TD>
 438 </TR>
 439
 440 <TR>
 441 <TD>LCDSetPos(0,0)</TD>
 442 <TD ALIGN="RIGHT">52.60</TD>
 443 <TD ALIGN="RIGHT">19010.74</TD>
 444 </TR>
 445
 446 <TR>
 447 <TD>LCDSetPos(5,5)</TD>
 448 <TD ALIGN="RIGHT">52.60</TD>
 449 <TD ALIGN="RIGHT">19010.74</TD>
 450 </TR>
 451
 452 <TR>
 453 <TD>LCDSetString(1,1,"Testing\n")</TD>
 454 <TD ALIGN="RIGHT">694.03</TD>
 455 <TD ALIGN="RIGHT">1440.87</TD>
 456 </TR>
 457
 458 <TR>
 459 <TD>LCDSetString(10,10,"Testing\n")</TD>
 460 <TD ALIGN="RIGHT">695.29</TD>
 461 <TD ALIGN="RIGHT">1438.25</TD>
 462 </TR>
 463
 464 <TR>
 465 <TH COLSPAN=3>OS functions</TH>
 466 </TR>
 467
 468 <TR>
 469 <TD COLSPAN=3 ALIGN=CENTER>
 470 Tested on Robot Gavin (4) Running RoBIOS version 3.1  with Color Quickcam at 35.7 Mhz
 471 </TD>
 472 </TR>
 473
 474 <TR>
 475 <TD>Function(parameters)</TD>
 476 <TD>microseconds per call</TD>
 477 <TD>Number of calls per second</TD>
 478 </TR>
 479
 480 <TR>
 481 <TD>OSEnable()</TD>
 482 <TD ALIGN="RIGHT">4.02</TD>
 483 <TD ALIGN="RIGHT">248667.85</TD>
 484 </TR>
 485
 486 <TR>
 487 <TD>OSGetVar(SYSSAVEVAR7)</TD>
 488 <TD ALIGN="RIGHT">10.26</TD>
 489 <TD ALIGN="RIGHT">97423.69</TD>
 490 </TR>
 491
 492 <TR>
 493 <TD>OSMachineID()</TD>
 494 <TD ALIGN="RIGHT">3.15</TD>
 495 <TD ALIGN="RIGHT">317460.32</TD>
 496 </TR>
 497
 498 <TR>
 499 <TD>OSMachineName()</TD>
 500 <TD ALIGN="RIGHT">3.26</TD>
 501 <TD ALIGN="RIGHT">306526.10</TD>
 502 </TR>
 503
 504 <TR>
 505 <TD>OSMachineSpeed()</TD>
 506 <TD ALIGN="RIGHT">3.15</TD>
 507 <TD ALIGN="RIGHT">317460.32</TD>
 508 </TR>
 509
 510 <TR>
 511 <TD>OSMachineType()</TD>
 512 <TD ALIGN="RIGHT">4.05</TD>
 513 <TD ALIGN="RIGHT">246913.58</TD>
 514 </TR>
 515
 516 <TR>
 517 <TD>OSPutVar(SYSSAVEVAR7, k)</TD>
 518 <TD ALIGN="RIGHT">12.57</TD>
 519 <TD ALIGN="RIGHT">79543.14</TD>
 520 </TR>
 521
 522 <TR>
 523 <TD>OSVersion()</TD>
 524 <TD ALIGN="RIGHT">2.95</TD>
 525 <TD ALIGN="RIGHT">338577.37</TD>
 526 </TR>
 527
 528 <TR>
 529 <TH COLSPAN=3>PSD functions</TH>
 530 </TR>
 531
 532 <TR>
 533 <TD COLSPAN=3 ALIGN=CENTER>
 534 Tested on Robot Gavin (4) Running RoBIOS version 3.1  with Color Quickcam at 35.7 Mhz
 535 </TD>
 536 </TR>
 537
 538 <TR>
 539 <TD>Function(parameters)</TD>
 540 <TD>microseconds per call</TD>
 541 <TD>Number of calls per second</TD>
 542 </TR>
 543
 544 <TR>
 545 <TD>PSDCheck()</TD>
 546 <TD ALIGN="RIGHT">3.04</TD>
 547 <TD ALIGN="RIGHT">329218.11</TD>
 548 </TR>
 549
 550 <TR>
 551 <TD>PSDGet(handle)</TD>
 552 <TD ALIGN="RIGHT">11.95</TD>
 553 <TD ALIGN="RIGHT">83665.35</TD>
 554 </TR>
 555
 556 <TR>
 557 <TD>PSDGetRaw(handle)</TD>
 558 <TD ALIGN="RIGHT">10.88</TD>
 559 <TD ALIGN="RIGHT">91874.24</TD>
 560 </TR>
 561
 562 <TR>
 563 <TH COLSPAN=3>Timer functions</TH>
 564 </TR>
 565
 566 <TR>
 567 <TD COLSPAN=3 ALIGN=CENTER>
 568 Tested on Robot Gavin (4) Running RoBIOS version 3.1  with Color Quickcam at 35.7 Mhz
 569 </TD>
 570 </TR>
 571
 572 <TR>
 573 <TD>Function(parameters)</TD>
 574 <TD>microseconds per call</TD>
 575 <TD>Number of calls per second</TD>
 576 </TR>
 577
 578 <TR>
 579 <TD>OSGetCount()</TD>
 580 <TD ALIGN="RIGHT">3.15</TD>
 581 <TD ALIGN="RIGHT">317460.32</TD>
 582 </TR>
 583
 584 <TR>
 585 <TD>OSGetTime(&hrs, &mins, &secs, &ticks)</TD>
 586 <TD ALIGN="RIGHT">11.19</TD>
 587 <TD ALIGN="RIGHT">89342.69</TD>
 588 </TR>
 589
 590 <TR>
 591 <TD>OSSetTime(hrs, mins, secs)</TD>
 592 <TD ALIGN="RIGHT">7.45</TD>
 593 <TD ALIGN="RIGHT">134180.79</TD>
 594 </TR>
 595
 596 <TR>
 597 <TD>OSShowTime()</TD>
 598 <TD ALIGN="RIGHT">24283.63</TD>
 599 <TD ALIGN="RIGHT">41.18</TD>
 600 </TR>
 601
 602 <TR>
 603 <TD>OSWait(0)</TD>
 604 <TD ALIGN="RIGHT">10.66</TD>
 605 <TD ALIGN="RIGHT">93808.63</TD>
 606 </TR>
 607
 608 <TR>
 609 <TD>OSWait(1)</TD>
 610 <TD ALIGN="RIGHT">10000.00</TD>
 611 <TD ALIGN="RIGHT">100.00</TD>
 612 </TR>
 613
 614 <TR>
 615 <TH COLSPAN=3>Image Processing Functions</TH>
 616 </TR>
 617
 618 <TR>
 619 <TD COLSPAN=3 ALIGN=CENTER>
 620 Tested on Robot A (1) Running RoBIOS version 3.1  with Eyecam at 35.7 Mhz
 621 </TD>
 622 </TR>
 623
 624 <TR>
 625 <TD>Function(parameters)</TD>
 626 <TD>microseconds per call</TD>
 627 <TD>Number of calls per second</TD>
 628 </TR>
 629
 630 <TR>
 631 <TD>IPColor2Grey(&cimg1, &img2)</TD>
 632 <TD ALIGN="RIGHT">14677.82</TD>
 633 <TD ALIGN="RIGHT">68.13</TD>
 634 </TR>
 635
 636 <TR>
 637 <TD>IPDiffer(&img1, &img2, &img3)</TD>
 638 <TD ALIGN="RIGHT">14560.28</TD>
 639 <TD ALIGN="RIGHT">68.68</TD>
 640 </TR>
 641
 642 <TR>
 643 <TD>IPDither(&img1, &img2)</TD>
 644 <TD ALIGN="RIGHT">7591.29</TD>
 645 <TD ALIGN="RIGHT">131.73</TD>
 646 </TR>
 647
 648 <TR>
 649 <TD>IPLaplace(himg1[2], &img2)</TD>
 650 <TD ALIGN="RIGHT">35765.38</TD>
 651 <TD ALIGN="RIGHT">27.96</TD>
 652 </TR>
 653
 654 <TR>
 655 <TD>IPSobel(&img1, &img2)</TD>
 656 <TD ALIGN="RIGHT">61425.06</TD>
 657 <TD ALIGN="RIGHT">16.28</TD>
 658 </TR>
 659
 660
 661 </TABLE>
 662 </BODY>
 663 </HTML>