如何基于matlab相机标定导出xml文件_C/C++

1 参数选择径向畸变3个参数还是两个参数

默认两个参数

如果是三个参数

2准备转化生成结果

二参数的转化代码

writeexternalandintrinsicmatrix(cameraparams62,'cameraparams622.xml');

function writeexternalandintrinsicmatrix(cameraparams,file)
%writexml(cameraparams,file)
 
docnode = com.mathworks.xml.xmlutils.createdocument('opencv_storage');
docrootnode = docnode.getdocumentelement;
intrinsicmatrix = ((cameraparams.intrinsicmatrix)');
 
tangentialdistortion =cameraparams.tangentialdistortion;
%distortion = [cameraparams.radialdistortion(1:2),tangentialdistortion, cameraparams.radialdistortion(3)];
distortion = [cameraparams.radialdistortion(1:2),tangentialdistortion,0];
focallength = cameraparams.focallength;
camera_matrix = docnode.createelement('intrinsiccam'); %锟斤拷锟斤拷mat锟节碉拷
camera_matrix.setattribute('type_id','opencv-matrix'); %锟斤拷锟斤拷mat锟节碉拷锟斤拷锟斤拷
rows = docnode.createelement('rows'); %锟斤拷锟斤拷锟叫节碉拷
rows.appendchild(docnode.createtextnode(sprintf('%d',3))); %锟斤拷锟斤拷锟侥憋拷锟节点，锟斤拷锟斤拷为锟叫碉拷锟接节碉拷
camera_matrix.appendchild(rows); %锟斤拷锟叫节碉拷锟斤拷为mat锟接节碉拷
 
cols = docnode.createelement('cols');
cols.appendchild(docnode.createtextnode(sprintf('%d',3)));
camera_matrix.appendchild(cols);
 
dt = docnode.createelement('dt');
dt.appendchild(docnode.createtextnode('d'));
camera_matrix.appendchild(dt);
 
data = docnode.createelement('data');
for i=1:3
  for j=1:3
    data.appendchild(docnode.createtextnode(sprintf('%.16f ',intrinsicmatrix(i,j))));
  end
  data.appendchild(docnode.createtextnode(sprintf('\n')));
end
camera_matrix.appendchild(data);
docrootnode.appendchild(camera_matrix);
 
distortion = docnode.createelement('distortioncam');
distortion.setattribute('type_id','opencv-matrix');
rows = docnode.createelement('rows');
rows.appendchild(docnode.createtextnode(sprintf('%d',1)));
distortion.appendchild(rows);
 
cols = docnode.createelement('cols');
cols.appendchild(docnode.createtextnode(sprintf('%d',5)));
distortion.appendchild(cols);
 
dt = docnode.createelement('dt');
dt.appendchild(docnode.createtextnode('d'));
distortion.appendchild(dt);
data = docnode.createelement('data');
for i=1:5
   data.appendchild(docnode.createtextnode(sprintf('%.16f ',distortion(i))));
end
distortion.appendchild(data);
docrootnode.appendchild(distortion);
 
 
focallength = docnode.createelement('focallength');
focallength.setattribute('type_id','opencv-matrix');
rows = docnode.createelement('rows');
rows.appendchild(docnode.createtextnode(sprintf('%d',1)));
focallength.appendchild(rows);
cols = docnode.createelement('cols');
cols.appendchild(docnode.createtextnode(sprintf('%d',1)));
focallength.appendchild(cols);
dt = docnode.createelement('dt');
dt.appendchild(docnode.createtextnode('d'));
focallength.appendchild(dt);
data = docnode.createelement('data');
for i=1:1
   data.appendchild(docnode.createtextnode(sprintf('%.16f ',focallength(i))));
end
focallength.appendchild(data);
docrootnode.appendchild(focallength);
 
% distortion = docnode.createelement('pmatrix');
% distortion.setattribute('type_id','opencv-matrix');
% rows = docnode.createelement('rows');
% rows.appendchild(docnode.createtextnode(sprintf('%d',1)));
% distortion.appendchild(rows);
%
% cols = docnode.createelement('cols');
% cols.appendchild(docnode.createtextnode(sprintf('%d',4)));
% distortion.appendchild(cols);
%
% dt = docnode.createelement('dt');
% dt.appendchild(docnode.createtextnode('d'));
% distortion.appendchild(dt);
% data = docnode.createelement('data');
% for i=1:4
%    data.appendchild(docnode.createtextnode(sprintf('%.16f ',distortion(i))));
% end
% distortion.appendchild(data);
% docrootnode.appendchild(distortion);
 
 
xmlfilename = file;
xmlwrite(xmlfilename,docnode);
end

二参数的保存结果

<?xml version="1.0" encoding="utf-8"?>
<opencv_storage>
  <intrinsiccam type_id="opencv-matrix">
   <rows>3</rows>
   <cols>3</cols>
   <dt>d</dt>
   <data>1558.5669994681102253 0.0000000000000000 821.5211092415044050
0.0000000000000000 1557.8077127262038175 460.9748043702705331
0.0000000000000000 0.0000000000000000 1.0000000000000000
</data>
  </intrinsiccam>
  <distortioncam type_id="opencv-matrix">
   <rows>1</rows>
   <cols>5</cols>
   <dt>d</dt>
   <data>-0.1873006682834817 0.0171597428423078 0.0000000000000000 0.0000000000000000 0.0000000000000000 </data>
  </distortioncam>
  <focallength type_id="opencv-matrix">
   <rows>1</rows>
   <cols>1</cols>
   <dt>d</dt>
   <data>1558.5669994681102253 </data>
  </focallength>
</opencv_storage>

三参数的转化代码

function writexml(cameraparams,file)
%writexml(cameraparams,file)
%功能：将相机校正的参数保存为xml文件
%输入：
%cameraparams：相机校正数据结构
%file：xml文件名
%说明在xml文件是由一层层的节点组成的。
%首先创建父节点 fathernode，
%然后创建子节点 childnode=docnode.createelement(childnodename)，
%再将子节点添加到父节点 fathernode.appendchild(childnode)
docnode = com.mathworks.xml.xmlutils.createdocument('opencv_storage'); %创建xml文件对象
docrootnode = docnode.getdocumentelement; %获取根节点
 
intrinsicmatrix = (cameraparams.intrinsicmatrix)'; %相机内参矩阵
radialdistortion = cameraparams.radialdistortion; %相机径向畸变参数向量1*3
tangentialdistortion =cameraparams.tangentialdistortion; %相机切向畸变向量1*2
  distortion = [radialdistortion(1:2),tangentialdistortion,radialdistortion(3)]; %构成opencv中的畸变系数向量[k1,k2,p1,p2,k3]
 
camera_matrix = docnode.createelement('camera-matrix'); %创建mat节点
camera_matrix.setattribute('type_id','opencv-matrix'); %设置mat节点属性
rows = docnode.createelement('rows'); %创建行节点
rows.appendchild(docnode.createtextnode(sprintf('%d',3))); %创建文本节点，并作为行的子节点
camera_matrix.appendchild(rows); %将行节点作为mat子节点
 
cols = docnode.createelement('cols');
cols.appendchild(docnode.createtextnode(sprintf('%d',3)));
camera_matrix.appendchild(cols);
 
dt = docnode.createelement('dt');
dt.appendchild(docnode.createtextnode('d'));
camera_matrix.appendchild(dt);
 
data = docnode.createelement('data');
for i=1:3
  for j=1:3
    data.appendchild(docnode.createtextnode(sprintf('%.16f ',intrinsicmatrix(i,j))));
  end
  data.appendchild(docnode.createtextnode(sprintf('\n')));
end
camera_matrix.appendchild(data);
docrootnode.appendchild(camera_matrix);
 
distortion = docnode.createelement('distortion');
distortion.setattribute('type_id','opencv-matrix');
rows = docnode.createelement('rows');
rows.appendchild(docnode.createtextnode(sprintf('%d',5)));
distortion.appendchild(rows);
 
cols = docnode.createelement('cols');
cols.appendchild(docnode.createtextnode(sprintf('%d',1)));
distortion.appendchild(cols);
 
dt = docnode.createelement('dt');
dt.appendchild(docnode.createtextnode('d'));
distortion.appendchild(dt);
data = docnode.createelement('data');
for i=1:5
   data.appendchild(docnode.createtextnode(sprintf('%.16f ',distortion(i))));
end
distortion.appendchild(data);
 
docrootnode.appendchild(distortion);
 
xmlfilename = file;
xmlwrite(xmlfilename,docnode);
end

三参数的转化保存结果

<?xml version="1.0" encoding="utf-8"?>
<opencv_storage>
  <camera-matrix type_id="opencv-matrix">
   <rows>3</rows>
   <cols>3</cols>
   <dt>d</dt>
   <data>1558.6100144620272658 0.0000000000000000 821.6453269280840459
0.0000000000000000 1557.8120286433929778 460.8682816753835141
0.0000000000000000 0.0000000000000000 1.0000000000000000
</data>
  </camera-matrix>
  <distortion type_id="opencv-matrix">
   <rows>5</rows>
   <cols>1</cols>
   <dt>d</dt>
   <data>-0.1840928673709393 -0.0328189923757994 0.0000000000000000 0.0000000000000000 0.2205440258401062 </data>
  </distortion>
</opencv_storage>

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