camke(12) 配置yaml-cpp 读取和保存数据

 

 

编译库位置

ros环境的yaml会干扰正常环境，CMakeLists要修改下手动指定build文件夹下编译的库

 

 

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(YamlCppExample)

# 设置C++标准
set(CMAKE_CXX_STANDARD 11)

# 查找yaml-cpp包 - ros 环境被干扰使用错误，报错段错误或者找不到
#find_package(yaml-cpp REQUIRED)

# 添加可执行文件
add_executable(node main.cpp)

# 链接yaml-cpp库  - ros 环境被干扰使用错误，报错段错误或者找不到
#target_link_libraries(node yaml-cpp)

# 如果yaml-cpp没有自动发现，防止被ros环境干扰,手动找到编译的库位置：
set(YAML_CPP_LIBRARIES "/home/dongdong/1sorftware/1work/openvslam/yaml-cpp-0.6.3/BUILD/libyaml-cpp.a")
target_link_libraries(node ${YAML_CPP_LIBRARIES})

 

cmake_minimum_required(VERSION 3.10)
project(EigenYamlExample)

# Set C++ standard
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)

# Find the Eigen library
find_package(Eigen3 REQUIRED)

# Find the yaml-cpp library
find_package(yaml-cpp REQUIRED)

# Include directories
include_directories(${EIGEN3_INCLUDE_DIR} ${YAML_CPP_INCLUDE_DIR})

# Add executable
add_executable(main main.cpp)

# Link libraries
target_link_libraries(main Eigen3::Eigen yaml-cpp)

　　

　　

main.cpp

#include <iostream>
#include <yaml-cpp/yaml.h>
#include <fstream>

using namespace std;

int save_yaml(std::string sava_path) {
    // 创建一个YAML文档
    YAML::Emitter emitter;

    // 开始写入YAML文档
    emitter << YAML::BeginMap;

    emitter << YAML::Key << "name";
    emitter << YAML::Value << "Alice";

    emitter << YAML::Key << "age";
    emitter << YAML::Value << 25;

    emitter << YAML::Key << "city";
    emitter << YAML::Value << "London";

    // 结束写入YAML文档
    emitter << YAML::EndMap;

    // 将YAML数据写入文件
    std::ofstream fout(sava_path);
    fout << emitter.c_str();
    fout.close();

    std::cout << "YAML data saved to output.yaml" << std::endl;

    return 0;
}


int read_yaml(std::string read_path) {
    try {
        // 读取YAML文件
        YAML::Node config = YAML::LoadFile(read_path);

        // 访问YAML中的数据
        std::string name = config["name"].as<std::string>();
        int age = config["age"].as<int>();
        std::string city = config["city"].as<std::string>();

        // 打印读取的数据
        std::cout << "Name: " << name << std::endl;
        std::cout << "Age: " << age << std::endl;
        std::cout << "City: " << city << std::endl;

    } catch (const YAML::Exception& e) {
        std::cerr << "YAML Exception: " << e.what() << std::endl;
        return 1;
    }

    return 0;
}


int main() {

string config_path ="../config.yaml";
read_yaml(config_path);

string sava_path ="../out.yaml";
save_yaml(sava_path) ;


}

　　

样例2

Matrix4d:
  -
    - 1
    - 0
    - 0
    - 0
  -
    - 0
    - 1
    - 0
    - 0
  -
    - 0
    - 0
    - 1
    - 0
  -
    - 0
    - 0
    - 0
    - 1
Matrix3d:
  -
    - 1
    - 0
    - 0
  -
    - 0
    - 1
    - 0
  -
    - 0
    - 0
    - 1
Vector3d:
  - 1
  - 2
  - 3

　　CMakeLists.txt

cmake_minimum_required(VERSION 3.10)
project(EigenYamlExample)

# Set C++ standard
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)

# Find the Eigen library
find_package(Eigen3 REQUIRED)

# Find the yaml-cpp library
find_package(yaml-cpp REQUIRED)

# Include directories
include_directories(${EIGEN3_INCLUDE_DIR} ${YAML_CPP_INCLUDE_DIR})

# Add executable
add_executable(main main.cpp)

# Link libraries
target_link_libraries(main Eigen3::Eigen yaml-cpp)

　　

main.cpp

#include <iostream>
#include <fstream>
#include <yaml-cpp/yaml.h>
#include <Eigen/Dense>

// Serialize Eigen::Matrix4d to YAML
YAML::Emitter& operator<<(YAML::Emitter& out, const Eigen::Matrix4d& mat) {
    out << YAML::BeginSeq;
    for (int i = 0; i < 4; ++i) {
        out << YAML::BeginSeq;
        for (int j = 0; j < 4; ++j) {
            out << mat(i, j);
        }
        out << YAML::EndSeq;
    }
    out << YAML::EndSeq;
    return out;
}

// Deserialize Eigen::Matrix4d from YAML
void operator>>(const YAML::Node& node, Eigen::Matrix4d& mat) {
    for (int i = 0; i < 4; ++i) {
        for (int j = 0; j < 4; ++j) {
            mat(i, j) = node[i][j].as<double>();
        }
    }
}

// Serialize Eigen::Matrix3d to YAML
YAML::Emitter& operator<<(YAML::Emitter& out, const Eigen::Matrix3d& mat) {
    out << YAML::BeginSeq;
    for (int i = 0; i < 3; ++i) {
        out << YAML::BeginSeq;
        for (int j = 0; j < 3; ++j) {
            out << mat(i, j);
        }
        out << YAML::EndSeq;
    }
    out << YAML::EndSeq;
    return out;
}

// Deserialize Eigen::Matrix3d from YAML
void operator>>(const YAML::Node& node, Eigen::Matrix3d& mat) {
    for (int i = 0; i < 3; ++i) {
        for (int j = 0; j < 3; ++j) {
            mat(i, j) = node[i][j].as<double>();
        }
    }
}

// Serialize Eigen::Vector3d to YAML
YAML::Emitter& operator<<(YAML::Emitter& out, const Eigen::Vector3d& vec) {
    out << YAML::BeginSeq;
    for (int i = 0; i < 3; ++i) {
        out << vec[i];
    }
    out << YAML::EndSeq;
    return out;
}

// Deserialize Eigen::Vector3d from YAML
void operator>>(const YAML::Node& node, Eigen::Vector3d& vec) {
    for (int i = 0; i < 3; ++i) {
        vec[i] = node[i].as<double>();
    }
}

int main() {
    Eigen::Matrix4d mat4 = Eigen::Matrix4d::Identity();
    Eigen::Matrix3d mat3 = Eigen::Matrix3d::Identity();
    Eigen::Vector3d vec3(1.0, 2.0, 3.0);

    // Serialize data to YAML file
    YAML::Emitter out;
    out << YAML::BeginMap;
    out << YAML::Key << "Matrix4d" << YAML::Value << mat4;
    out << YAML::Key << "Matrix3d" << YAML::Value << mat3;
    out << YAML::Key << "Vector3d" << YAML::Value << vec3;
    out << YAML::EndMap;

    std::ofstream fout("data.yaml");
    fout << out.c_str();
    fout.close();

    // Deserialize data from YAML file
    YAML::Node node = YAML::LoadFile("data.yaml");
    Eigen::Matrix4d loadedMat4;
    Eigen::Matrix3d loadedMat3;
    Eigen::Vector3d loadedVec3;

    node["Matrix4d"] >> loadedMat4;
    node["Matrix3d"] >> loadedMat3;
    node["Vector3d"] >> loadedVec3;

    // Print the loaded data
    std::cout << "Loaded Matrix4d:\n" << loadedMat4 << std::endl;
    std::cout << "Loaded Matrix3d:\n" << loadedMat3 << std::endl;
    std::cout << "Loaded Vector3d:\n" << loadedVec3 << std::endl;

    return 0;
}