I want to get the time for feature extraction to compare the performance between SIFT and SUFT.
I found two things: Keypoints 3D and Keypoints detection in Statistics window, and I can get the figure about these, but there are no notes in Statistics Class. So please can you tell me I am right? Thx!
If it is only to compare features extraction time from different algorithms, using find-object may be more easier to use.
In RTAB-Map, you should look under the Statistics view / TimingMem tab. Look for "Keypoints detection" and "Descriptors extraction". The number of features extracted is shown under "keypoint" tab, label "Keypoints count in the last signature".
Well that depends for which purpose. For odometry, GFTT+BRIEF works well as we need something fast and the scale/rotation between two consecutive images don't change too much. SIFT and SURF are rotation/scale invariant, which I find better for loop closure detection over large environments.