Performance profiling using Visual Studio performance sessions (sampling profiler). Instrumentation logging added to record performance data.
Using Makefile and varies Linux tools to convert performance texts to CSV tables. Import CSV into Excel, plotting line diagrams.
Full single core CPU usage (50% total) during first 50 seconds with low (5~10) fps preview & controller refresh rate. Afterwards, CPU usage varies (from 20% to 100% total), achieving target refresh rate (20 fps controllers, 20 fps preview), but frame rates are not stable.