diff --git a/esp32/README.rst b/esp32/README.rst
index f1d4e6d..a9f618e 100644
--- a/esp32/README.rst
+++ b/esp32/README.rst
@@ -26,6 +26,70 @@ Benchmark
 
 Below is a summary of the OpenCV features tested on the ESP32 and the time they took (adding the heap/stack used could also be useful).
 
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| Function name and arguments                    | BUILD_TYPE=Debug                                      | BUILD_TYPE=Release                                    |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+|                                                |     160x120 |     320x240 |     640x480 |    1024x768 |     160x120 |     320x240 |     640x480 |    1024x768 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| All measures are in [ms]                                                                               |                                                       |
++================================================+=============+=============+=============+=============+=============+=============+=============+=============+
+|                                                                                                        |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| **Threshold**                                                                                          |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| binaryThreshold                                |         4.5 |          18 |          69 |         175 |         2.6 |          11 |          42 |         107 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| triangleThreshold                              |         8.1 |          32 |         124 |         315 |         3.9 |          17 |          66 |         168 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| OTSUThreshold                                  |          11 |          35 |         127 |         318 |         6.5 |          20 |          69 |         171 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| toZeroThreshold                                |         4.5 |          18 |          69 |         175 |         2.6 |          11 |          42 |         107 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+|                                                                                                        |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| **Blurring**                                                                                           |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| GaussianBlur 9x9 kernel                        |         223 |         875 |        3473 |        9042 |          34 |         128 |         504 |        1458 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| medianBlur 9x9 kernel                          |         141 |         608 |        2754 |        7505 |          56 |         273 |        1425 |        4091 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| bilateralFilter diameter=9                     |         413 |        1628 |        6487 |       16386 |         138 |         535 |        2119 |        5293 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+|                                                                                                        |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| **Morphological tranforms**                                                                            |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| erode 5x5 kernel                               |          41 |         151 |         587 |        1493 |         6.2 |          22 |          84 |         214 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| dilate 5x5 kernel                              |          41 |         151 |         587 |        1494 |         6.2 |          22 |          84 |         214 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| open 5x5 kernel                                |          81 |         299 |        1163 |        2959 |          11 |          41 |         158 |         400 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+|                                                                                                        |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| **Resize image**                                                                                       |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| resize linear interpolation                    |          10 |          39 |         150 |         378 |         3.8 |          16 |          59 |         147 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| resize cubic interpolation                     |          21 |          75 |         291 |         733 |         6.5 |          27 |         108 |         277 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+|                                                                                                        |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| **Edge detection**                                                                                     |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| Sobel                                          |          34 |         116 |         438 |        1129 |          14 |          50 |         187 |         497 |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| Canny                                          |          81 |         260 |         894 |         ERR |          32 |         108 |         375 |         ERR |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+|                                                                                                        |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| **Hough tranformations**                                                                               |                                                       |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| HoughLines                                     |         392 |         897 |         ERR |         ERR |         313 |         681 |        2121 |         ERR |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+| HoughLines probabilistic                       |         699 |        1652 |         ERR |         ERR |         608 |        1358 |        3766 |         ERR |
++------------------------------------------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+-------------+
+
 
 
 Installing esp-idf toolchain
@@ -113,7 +177,7 @@ Adding images codecs support
 Things done to read/writes images in JPEG, PNG, etc..
 
 PNG
-
+^^^
 
 - Remove `-DWITH_PNG=OFF` and add `-DBUILD_PNG=ON` and `-DBUILD_ZLIB=ON` of the cmake command
   - => The lib `opencv_imgcodecs.a` build pass
@@ -123,7 +187,7 @@ The library is compiled in the `3rdparty/` folder. Copy this folder into the esp
 
 
 JPEG
-
+^^^^
 
 - Remove `-DWITH_JPEG=OFF` and add `-DBUILD_JPEG=ON` of the cmake command
   - => Problem at compilation time. TODO
@@ -156,7 +220,7 @@ Imgproc module:
 ---------------
 
 Colorspaces
-
+^^^^^^^^^^^
 
 Opencv supports multiple colorspaces (RGB, BGR, RGB565, RGBA, CIELAB, CIEXYZ, Luv, YUV, HSV, HLS, YCrCb, Bayer, Gray). All these colorspaces are not mandatory for an embedded system, so some are removed.