Function used to measure function running time in C++

	struct timeval tvgz1,tvgz2,tvgz3,tvgz4,tvgz5;
    float t1,t2,t3,t4,t5;
	gettimeofday(&tvgz1, NULL);  //开始计时

    
    /***待测试函数***/ 



	gettimeofday(&tvgz2, NULL);  //结束计时
    t1 = (float)((tvgz2.tv_sec - tvgz1.tv_sec) * 1000000 + tvgz2.tv_usec - tvgz1.tv_usec) / 1000000;   //测算运行时间
    t2 = 1.0 / t1;    //由测算时间，计算帧率
	printf("目标函数运行时间: %d \n", (int)t1);
	printf("目标函数发送帧率: %d \n", (int)t2);

The above code can be used to calculate the running time of a section or a function, and the value of the frame rate of the transmitted image;

Posted below is the code used to save image data;

sprintf(filename, "%保存图片的名字t_%d.rgb",CAMERA_DUMP_PATH,picIndex++);
this->perception_pic1->dumpFile(filename);

其中：CAMERA_DUMP_PATH 对图片保存的路径做出限制
#define CAMERA_DUMP_PATH            "./"
picIndex++ 用于循环保存