问Eigen3小矩阵差但开销大

EN

static inline void tsnorm(stTime *ts) 
{
  while (ts->tv_nsec >= NSEC_PER_SEC) 
  {
    ts->tv_nsec -= NSEC_PER_SEC;
    ts->tv_sec++;
  }
}

  const unsigned short usRawFrameRows = 640;
  const unsigned short usRawFrameCols = 512;
  using  pixType = unsigned short;
  using pixDynMat = Matrix<pixType, Dynamic, Dynamic, RowMajor>;

  pixDynMat biasFrame = pixDynMat::Zero(usRawFrameRows, usRawFrameCols);
  pixType *myRawFrame = new pixType[usRawFrameRows * usRawFrameCols];

  struct timespec tBeforeProcessFrameCall, tAfterProcessFrameCall;
  clock_gettime(CLOCK_MONOTONIC_RAW, &tBeforeProcessFrameCall);
  tsnorm(&tBeforeProcessFrameCall); 
  
  // Substract the bias from the current raw frame
  MatrixXd calFrame = Map<pixDynMat>(myRawFrame, usRawFrameRows, usRawFrameCols).cast<double>() 
                      - biasFrame.cast<double>();

  clock_gettime(CLOCK_MONOTONIC_RAW, &tAfterProcessFrameCall);
  tsnorm(&tAfterProcessFrameCall); 

  cout << " PHI processFrame overhead (ms) = " << (tAfterProcessFrameCall.tv_nsec - tBeforeProcessFrameCall.tv_nsec)/1e6 << endl;