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

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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})

 

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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

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#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

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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

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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

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#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; }