YAML配置文件读取

1.YAML 格式

YAML格式的文件拓展名包括：.yml 和 .yaml，两个都表示YAML文件；
XML格式的文件拓展名为： .xml

基本语法规则

• 大小写敏感
• 使用缩进表示层级关系
• 缩进时不允许使用Tab键，只允许使用空格。
• 缩进的空格数目不重要，只要相同层级的元素左侧对齐即可

数据结构：
string: 'foo'
integer: 1234
float: 1234.5
boolean: true
list: [1.0, mixed list]
dictionary: {a: b, c: d}

引用

锚点&和别名*，可以用来引用。

defaults: &defaults
adapter:  postgres
host:     localhost

development:
database: myapp_development
<<: *defaults

test:
database: myapp_test
<<: *defaults

等同于下面的代码。

defaults:
adapter:  postgres
host:     localhost

development:
database: myapp_development
adapter:  postgres
host:     localhost

test:
database: myapp_test
adapter:  postgres
host:     localhost

```&用来建立锚点（defaults），<<表示合并到当前数据，*`用来引用锚点。

http://wiki.ros.org/rosparam

https://yaml.org/spec/1.2/spec.pdf

2.python读取yaml配置文件

#read_yaml.yaml
first_name: 111
second_name: 222
third_name: 333
basic_name:
 test_name: 444
 selected_name:
  - 666
  - 777

sudo pip install pyyaml
sudo pip3 install pyyaml

#read_yaml.py
# -*- coding:utf-8 -*- 
import os 
import yaml 

current_path = os.path.abspath(os.path.dirname(__file__)) 
print(current_path) 
print(current_path + '/../test_dir') 
with open(current_path + '/../test_dir/' + 'read_yaml.yaml', 'r') as f: 
    temp = yaml.load(f.read()) 
    print(temp) 
    print(temp['basic_name']) 
    print(temp['basic_name']['test_name']) 
    print(temp['basic_name']['selected_name'][0])

3.C++读取yaml配置文件

使用yaml-cpp读取和写入yaml文件

安装yaml-cpp:

git clone https://github.com/jbeder/yaml-cpp.git

编译 yaml-cpp:

cd yaml-cpp # 进入克隆的文件夹
mkdir build
cd build
cmake ..
make
sudo make install

使用yaml-cpp:

​ 修改CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
PROJECT(001)
SET(CMAKE_C_COMPILER g++)
add_compile_options(-std=c++11)

link_directories(/home/windistance/yaml-cpp/build)
include_directories(/home/windistance/yaml-cpp/include/yaml-cpp)

ADD_EXECUTABLE(${PROJECT_NAME} src/main.cpp)
target_link_libraries(${PROJECT_NAME} yaml-cpp) 

​ 添加头文件

#include "yaml-cpp/yaml.h"

示例：

int main(int argc, char** argv)
{
  std::string file_name = "/home/test/read_yaml.yaml";
  YAML::Node params = YAML::LoadFile(file_name);
  
  YAML::Node topic = params["basic_name"];
  cout<<topic<<endl;
    
  return 0;
}

4.opencv读取yaml配置文件

#include "opencv2/opencv.hpp"
#include <time.h>
using namespace cv;
int main(int, char** argv)
{
    //FileStorage fs("test.yml", FileStorage::READE);
    FileStorage fs("test.yml", FileStorage::WRITE);
    fs << "frameCount" << 5;
    time_t rawtime; time(&rawtime);
    fs << "calibrationDate" << asctime(localtime(&rawtime));
    Mat cameraMatrix = (Mat_<double>(3,3) << 1000, 0, 320, 0, 1000, 240, 0, 0, 1);
    Mat distCoeffs = (Mat_<double>(5,1) << 0.1, 0.01, -0.001, 0, 0);
    fs << "cameraMatrix" << cameraMatrix << "distCoeffs" << distCoeffs;
    fs << "features" << "[";
    for( int i = 0; i < 3; i++ )
    {
        int x = rand() % 640;
        int y = rand() % 480;
        uchar lbp = rand() % 256;
        fs << "{:" << "x" << x << "y" << y << "lbp" << "[:";
        for( int j = 0; j < 8; j++ )
            fs << ((lbp >> j) & 1);
        fs << "]" << "}";
    }
    fs << "]";
    fs.release();
    return 0;
}

%YAML:1.0
frameCount: 5
calibrationDate: "Fri Jun 17 14:09:29 2011\n"
cameraMatrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 1000., 0., 320., 0., 1000., 240., 0., 0., 1. ]
distCoeffs: !!opencv-matrix
   rows: 5
   cols: 1
   dt: d
   data: [ 1.0000000000000001e-01, 1.0000000000000000e-02,
       -1.0000000000000000e-03, 0., 0. ]
features:
   - { x:167, y:49, lbp:[ 1, 0, 0, 1, 1, 0, 1, 1 ] }
   - { x:298, y:130, lbp:[ 0, 0, 0, 1, 0, 0, 1, 1 ] }
   - { x:344, y:158, lbp:[ 1, 1, 0, 0, 0, 0, 1, 0 ] }

https://www.docs.opencv.org/3.4/d4/da4/group__core__xml.html

https://blog.csdn.net/YhL_Leo/article/details/47660943

5.roslaunch文件读取yaml配置文件

.launch文件

<rosparam command="load" ns="test" file="$(find test)/config/read_yaml.yaml"/>

nodeHandle_.param("basic_name/test_name", name, 1);