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Use php-saml
https://github.com/onelogin/php-saml
Here is the code that process a SAMLResponse:
https://github.com/onelogin/php-saml/blob/master/demo1/index.php#L70
https://github.com/onelogin/php-saml/blob/master/lib/Saml2/Auth.php#L203
https://github.com/onelogin/php-saml/blob/master/lib/Saml2/Response.php