本文使用到的yaml文件内容:
具体用法
1:导入头文件#include <yaml-cpp/yaml.h>(需要自己安装)
2:加载文件
YAML::Node config = YAML::LoadFile("/home/hu/catkin_minibus/src/object_perception/src/result_new.yaml");
3:用一个向量来接收文件中的矩阵并强制转换成固定长度,例如4*4就变成16(不要问什么,我也不知道,直接用eigen矩阵赋值会报错)
vector<float> ext= config["CameraExtrinsicMat"]["data"].as<vector<float>>();
assert((int)ext.size() == 16);
4:声明一个cv矩阵变量,把上一步中的值用for循环赋值到新矩阵中来。
cv::Mat cameraExtrinsicMat = cv::Mat(4, 4, CV_64F);
for (int row = 0; row < 4; row++)
{
for (int col = 0; col < 4; col++)
{
cameraExtrinsicMat.at<double>(row, col) = ext[col + row * 4];
}
}
运行结果如下
完整代码如下:
YAML::Node config = YAML::LoadFile("/home/hu/catkin_minibus/src/object_perception/src/result_new.yaml");
vector<float> ext= config["CameraExtrinsicMat"]["data"].as<vector<float>>();
vector<float> mtx = config["CameraMat"]["data"].as<vector<float>>();
assert((int)ext.size() == 16);
assert((int)mtx.size() == 9);
cv::Mat cameraExtrinsicMat = cv::Mat(4, 4, CV_64F);
for (int row = 0; row < 4; row++)
{
for (int col = 0; col < 4; col++)
{
cameraExtrinsicMat.at<double>(row, col) = ext[col + row * 4];
}
}
cv::Mat cameraMat = cv::Mat(3, 3, CV_64F);
for (int row = 0; row < 3; row++)
{
for (int col = 0; col < 3; col++)
{
cameraMat.at<double>(row, col) = mtx[row * 3 + col];
}
}
cout << " 外参矩阵:"<<cameraExtrinsicMat<<endl;
cout << "原数据:"<<config["CameraExtrinsicMat"]["data"]<<endl;
cout << " 内参矩阵:"<<cameraMat<<endl;
cout << "原数据:"<<config["CameraMat"]["data"]<<endl;
```