如何基于matlab相机标定导出xml文件

 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

    33<dt>d</dt>1558.5669994681102253 0.0000000000000000 821.5211092415044050 0.0000000000000000 1557.8077127262038175 460.9748043702705331 0.0000000000000000 0.0000000000000000 1.0000000000000000  15<dt>d</dt>-0.1873006682834817 0.0171597428423078 0.0000000000000000 0.0000000000000000 0.0000000000000000  11<dt>d</dt>1558.5669994681102253 

 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.getDocumentEleme<mark style="color:transparent">来源gaodaimacom搞#^代%!码网</mark>nt; %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

    33<dt>d</dt>1558.6100144620272658 0.0000000000000000 821.6453269280840459 0.0000000000000000 1557.8120286433929778 460.8682816753835141 0.0000000000000000 0.0000000000000000 1.0000000000000000  51<dt>d</dt>-0.1840928673709393 -0.0328189923757994 0.0000000000000000 0.0000000000000000 0.2205440258401062