Single-pixel imaging which employs active illumination to acquire spatial information is an innovative imaging scheme and has received increasing attentions in recent years. It is applicable to imaging at non-visible wavelengths and imaging under low light conditions. However, single-pixel imaging has once encountered problems of low reconstruction quality and long data-acquisition time. Hadamard single-pixel imaging (HSI) and Fourier single-pixel imaging (FSI) are two representative deterministic model based techniques. Both techniques are able to achieve high-quality and efficient imaging, remarkably improving the applicability of single-pixel imaging scheme. In this paper, we compare the performances of HSI and FSI with theoretical analysis and experiments. The results show that FSI is more efficient than HSI while HSI is more noise-robust than FSI. Our work may provide a guideline for researchers to choose suitable single-pixel imaging technique for their applications.