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')));endcamera_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))));enddistortion.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))));endfocalLength.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 821.52110924150440500.0000000000000000 1557.8077127262038175 460.97480437027053310.0000000000000000 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*3TangentialDistortion =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')));endcamera_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))));enddistortion.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 821.64532692808404590.0000000000000000 1557.8120286433929778 460.86828167538351410.0000000000000000 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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