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M1安装并使用Matlab2024a进行java相机标定

article 2025/8/27 0:49:02

安装

Matlab下载地址：https://www.macxin.com/archives/23771.html
注意⚠️：如若需要java调用Matlab函数，则需要java版本为21

使用

安装完成之后运行此节目可以看到：

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构建jar

命令行输入deploytool，会有一个弹窗，选择：Library Compiler

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编写Matlab函数脚本

cameraCalibration.m

function [cameraStruct, errorStruct] = cameraCalibration(imageFileNames, squareSize)
% cameraCalibration  使用一组棋盘格图片进行相机标定，返回标定结果及误差
%
%   输入：
%     - imageFileNames:  cell 数组 或 Java String[] 或 MATLAB 字符串数组，包含所有待标定图像路径
%     - squareSize:      棋盘格每个小方块的实际边长 (标定时的世界单位)
%
%   输出：
%     - cameraParams:       CameraParameters 对象
%     - estimationErrors:   标定估计误差信息
%
%   设计思路：
%     1. 兼容 Java 传入的 String[]（MCR 会先把它当作一个 1×N 的 cell array of java.lang.String）
%     2. 将任意字符串/字符串数组/Java String 转成标准的 MATLAB cell-of-char
%     3. 剩下流程与之前版本一致disp(class(imageFileNames));   % 看看 MCR 真的把它当作“cell”还是“java.lang.Object”% -------------------------% 1. 统一把各种“字符串数组”转换成 MATLAB cell-of-char% -------------------------if ~iscell(imageFileNames)% 如果是 MATLAB 字符串数组或字符矩阵if isstring(imageFileNames) || ischar(imageFileNames)% 直接转换imageFileNames = cellstr(imageFileNames);else% 否则，有可能是 Java String[] 进来，或更一般的 Java Object[]% MCR 会把 Java String[] 当成一个 cell array of Java Stringtry% 遍历每个元素，把它转成 MATLAB 的 chartempCell = cell(size(imageFileNames));for k = 1:numel(imageFileNames)tempCell{k} = char(imageFileNames{k}); endimageFileNames = tempCell;catcherror('第一个输入参数 imageFileNames 必须是一个包含字符串(路径)的数组或 cell-of-char');endendend% 现在 imageFileNames 必须是一个 cell-of-charif ~iscell(imageFileNames) || isempty(imageFileNames)error('第一个输入参数 imageFileNames 必须是一个非空的 cell 数组，且每个元素为有效的图像路径23333');end% -------------------------% 2. 校验 squareSize% -------------------------if ~isnumeric(squareSize) || ~isscalar(squareSize) || squareSize <= 0error('第二个输入参数 squareSize 必须是一个正数（棋盘格方块的实际边长）');end% -------------------------% 3. 检测棋盘格角点% -------------------------detector = vision.calibration.monocular.CheckerboardDetector();try[imagePoints, imagesUsed] = detectPatternPoints(detector, imageFileNames);catch MEerror('调用 detectPatternPoints 时出错：%s', ME.message);end% 过滤掉未检测到棋盘格的图像索引imageFileNamesUsed = imageFileNames(imagesUsed);if isempty(imageFileNamesUsed)error('所有输入图像均未检测到棋盘格，请检查图像路径和图像质量');end% 从第一张有效图像读取尺寸originalImage = imread(imageFileNamesUsed{1});[mrows, ncols, ~] = size(originalImage);% -------------------------% 4. 生成世界坐标系下棋盘格关键点坐标% -------------------------worldPoints = generateWorldPoints(detector, 'SquareSize', squareSize);% -------------------------% 5. 进行相机标定% -------------------------try[cameraParams, ~, estimationErrors] = estimateCameraParameters( ...imagePoints, worldPoints, ...'EstimateSkew', false, ...'EstimateTangentialDistortion', false, ...'NumRadialDistortionCoefficients', 2, ...'WorldUnits', 'millimeters', ...   % 与 squareSize 单位保持一致；若你传入其它单位，可修改此行'ImageSize', [mrows, ncols] ...);catch MEerror('调用 estimateCameraParameters 时出错：%s', ME.message);end% -------------------------% 6. 把 cameraParameters 对象拆解成普通 struct% -------------------------% cameraParams 是一个 cameraParameters 对象，我们把常用字段打包进一个 structcameraStruct.IntrinsicMatrix      = cameraParams.IntrinsicMatrix;        % 3×3cameraStruct.RadialDistortion     = cameraParams.RadialDistortion;       % 1×2 [k1, k2]cameraStruct.TangentialDistortion = cameraParams.TangentialDistortion;   % 1×2 [p1, p2]cameraStruct.RotationMatrices     = cameraParams.RotationMatrices;       % N×3×3cameraStruct.TranslationVectors   = cameraParams.TranslationVectors;     % N×3cameraStruct.WorldPoints          = cameraParams.WorldPoints;            % M×2，M=棋盘格角点数cameraStruct.ReprojectionErrors   = cameraParams.ReprojectionErrors;     % N×M×2cameraStruct.ImageSize            = cameraParams.ImageSize;              % [mrows, ncols]cameraStruct.WorldUnits           = cameraParams.WorldUnits;             % 'millimeters'cameraStruct.NumRadialDistortionCoefficients = cameraParams.NumRadialDistortionCoefficients;cameraStruct.MeanReprojectionError = cameraParams.MeanReprojectionError;% 如果你还想返回更多字段，例如 MeanReprojectionError、CameraIntrinsicsParameters 等，% 可以按以下格式添加：% cameraStruct.MeanReprojectionError = cameraParams.MeanReprojectionError;% cameraStruct.CameraIntrinsicsParameters = cameraParams.CameraIntrinsicsParameters;% -------------------------% 7. 将 estimationErrors 直接输出，因为它本来就是普通 struct% -------------------------errorStruct = estimationErrors;% 这样一来，Java 端拿到的第一个输出是一个 MWStructArray（对应 cameraStruct），% 第二个输出也是一个 MWStructArray（对应 errorStruct）。
end

最终生成的jar包地址

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java调用Matlab

将jar包集成到idea中
- 注意javabuilder.jar包不能导入到项目中，因为com.mathworks.toolbox.javabuilder.internal.MCRConfiguration.ProxyLibraryDir#get第118行，强制性指定了javabuilder的获取路径，就算你仿照了源码要求，新建了目录也还是会有一部分的遗留问题，建议 直接使用Matlab默认的javabuilder.jar路径 就好
java调用Matlab函数
- 如若不使用java21去调用2024a版本打成的jar包会提示，字节码编译版本不一致错误
当需要更新Matlab函数时需要重新构建jar包，并且重新导入
- 如若导入的jar包识别不了时可以尝试关闭项目再重新打开，以重新加载项目的方式有可能会有妙处

java测试案例

启动类

package com.example.javademo.matlab;import com.example.javademo.matlab.dto.CameraParametersJava;
import com.mathworks.toolbox.javabuilder.*;
import com.matlab.CalibrationProcessor;public class TestCalib {public static void main(String[] args) {try {// 1. 初始化 MATLAB RuntimeMWApplication.initialize();// 2. 实例化包装类（类名要和你生成的 JAR 中一致）CalibrationProcessor calib = new CalibrationProcessor();// 3. 准备输入参数// imgList：一个 String[]，每个元素是棋盘格图片的绝对路径或相对路径String[] imgList = new String[] {"/Users/Downloads/Downloads/images/100000.png","/Users/Downloads/Downloads/images/100001.png","/Users/Downloads/Downloads/images/100003.png","/Users/Downloads/Downloads/images/100004.png","/Users/Downloads/Downloads/images/100005.png","/Users/Downloads/Downloads/images/100006.png","/Users/Downloads/Downloads/images/100007.png","/Users/Downloads/Downloads/images/100008.png","/Users/Downloads/Downloads/images/100009.png","/Users/Downloads/Downloads/images/100010.png","/Users/Downloads/Downloads/images/100011.png",};double squareSize = 25.0; // 单位：毫米// 4. 把所有参数打包到 Object[] rhsObject[] rhs = new Object[2];rhs[0] = imgList;                // String[] 当作 Objectrhs[1] = Double.valueOf(squareSize);// 5. 调用 MATLAB 函数：第一个参数 “2” 是想拿回 2 个输出Object[] results = calib.cameraCalibration(2, rhs);// 在这里先检查 results[0] 到底是什么System.out.println("results[0].getClass().getName() = "+ results[0].getClass().getName());System.out.println("results[1].getClass().getName() = "+ results[1].getClass().getName());// 强制转换成 MWStructArrayMWStructArray camStruct   = (MWStructArray) results[0];CameraParametersJava cameraParametersJava = ExtractCameraParameters.fromMWStructArray(camStruct);System.out.println(cameraParametersJava);// 7. 释放资源calib.dispose();camStruct.dispose();MWApplication.terminate();} catch (MWException e) {e.printStackTrace();}}
}

Java实体

package com.example.javademo.matlab.dto;import java.util.Arrays;/*** 用于在 Java 端存储从 MATLAB 标定结果中提取的相机参数字段。*/
public class CameraParametersJava {// 内参矩阵 3×3private double[][] intrinsicMatrix;        // [3][3]// 径向畸变系数 [k1, k2]private double[] radialDistortion;         // [2]// 切向畸变系数 [p1, p2]private double[] tangentialDistortion;     // [2]// N×3×3 的旋转矩阵阵列：对于每张图有一个旋转矩阵// 存成一个三维数组： [N][3][3]private double[][][] rotationMatrices;     // N×3 的平移向量阵列：对于每张图有一个平移向量// 存成 [N][3]private double[][] translationVectors;     // M×2 的棋盘格世界点坐标：M 个角点，每个点有 (x, y)private double[][] worldPoints;            // [M][2]// M×2×N 的重投影误差：对于每张图的每个世界点，都有一个 (xErr, yErr)// 存成 [M][2][N] 或者 [N][M][2]（下面按 MATLAB 导出的维度顺序重组）private double[][][] reprojectionErrors;   // 原始图像的尺寸 [rows, cols]，例如 [480, 640]private int[] imageSize;                   // [2]// 世界单位字符串，例如 "millimeters"private String worldUnits;// 径向畸变系数个数：通常就是 2private int numRadialDistortionCoefficients;/*** 平均重投影误差*/private double meanReprojectionError;// ---------- 以下为构造器和 Getter/Setter ----------public CameraParametersJava() { }public double[][] getIntrinsicMatrix() {return intrinsicMatrix;}public void setIntrinsicMatrix(double[][] intrinsicMatrix) {this.intrinsicMatrix = intrinsicMatrix;}public double[] getRadialDistortion() {return radialDistortion;}public void setRadialDistortion(double[] radialDistortion) {this.radialDistortion = radialDistortion;}public double[] getTangentialDistortion() {return tangentialDistortion;}public void setTangentialDistortion(double[] tangentialDistortion) {this.tangentialDistortion = tangentialDistortion;}public double[][][] getRotationMatrices() {return rotationMatrices;}public void setRotationMatrices(double[][][] rotationMatrices) {this.rotationMatrices = rotationMatrices;}public double[][] getTranslationVectors() {return translationVectors;}public void setTranslationVectors(double[][] translationVectors) {this.translationVectors = translationVectors;}public double[][] getWorldPoints() {return worldPoints;}public void setWorldPoints(double[][] worldPoints) {this.worldPoints = worldPoints;}public double[][][] getReprojectionErrors() {return reprojectionErrors;}public void setReprojectionErrors(double[][][] reprojectionErrors) {this.reprojectionErrors = reprojectionErrors;}public int[] getImageSize() {return imageSize;}public void setImageSize(int[] imageSize) {this.imageSize = imageSize;}public String getWorldUnits() {return worldUnits;}public void setWorldUnits(String worldUnits) {this.worldUnits = worldUnits;}public int getNumRadialDistortionCoefficients() {return numRadialDistortionCoefficients;}public void setNumRadialDistortionCoefficients(int numRadialDistortionCoefficients) {this.numRadialDistortionCoefficients = numRadialDistortionCoefficients;}public double getMeanReprojectionError() {return meanReprojectionError;}public void setMeanReprojectionError(double meanReprojectionError) {this.meanReprojectionError = meanReprojectionError;}@Overridepublic String toString() {StringBuilder sb = new StringBuilder();sb.append("CameraParametersJava {\n");sb.append("  IntrinsicMatrix = ").append(Arrays.deepToString(intrinsicMatrix)).append("\n");sb.append("  RadialDistortion = ").append(Arrays.toString(radialDistortion)).append("\n");sb.append("  TangentialDistortion = ").append(Arrays.toString(tangentialDistortion)).append("\n");sb.append("  RotationMatrices = ").append(Arrays.deepToString(rotationMatrices)).append("\n");sb.append("  TranslationVectors = ").append(Arrays.deepToString(translationVectors)).append("\n");sb.append("  WorldPoints = ").append(Arrays.deepToString(worldPoints)).append("\n");sb.append("  ReprojectionErrors = ").append(Arrays.deepToString(reprojectionErrors)).append("\n");sb.append("  ImageSize = ").append(Arrays.toString(imageSize)).append("\n");sb.append("  WorldUnits = ").append(worldUnits).append("\n");sb.append("  NumRadialDistortionCoefficients = ").append(numRadialDistortionCoefficients).append("\n");sb.append("  MeanReprojectionError = ").append(meanReprojectionError).append("\n");sb.append("}");return sb.toString();}
}

解析Matlab函数返回对象

package com.example.javademo.matlab;import com.example.javademo.matlab.dto.CameraParametersJava;
import com.mathworks.toolbox.javabuilder.MWStructArray;
import com.mathworks.toolbox.javabuilder.MWNumericArray;
import com.mathworks.toolbox.javabuilder.MWCharArray;
import com.mathworks.toolbox.javabuilder.MWException;public class ExtractCameraParameters {public static CameraParametersJava fromMWStructArray(MWStructArray camStruct) throws MWException {CameraParametersJava cpj = new CameraParametersJava();String[] camStructNames = camStruct.fieldNames();for (String camStructName : camStructNames) {switch (camStructName) {case "IntrinsicMatrix":// ----------------------------// 1. 拿 IntrinsicMatrix (size = [3,3])// ----------------------------MWNumericArray intrinsicArr = null;try {intrinsicArr = (MWNumericArray) camStruct.getField(camStructName, 1);int[] dims = intrinsicArr.getDimensions();  // e.g., [3,3]int rows = dims[0], cols = dims[1];double[] flat = intrinsicArr.getDoubleData(); // column-majordouble[][] intrinsic = new double[rows][cols];for (int c = 0; c < cols; c++) {for (int r = 0; r < rows; r++) {intrinsic[r][c] = flat[c * rows + r];}}cpj.setIntrinsicMatrix(intrinsic);} finally {if (intrinsicArr != null) intrinsicArr.dispose();}break;case "RadialDistortion":// ----------------------------// 2. 拿 RadialDistortion (size = [1,2])// ----------------------------MWNumericArray radialArr = null;try {radialArr = (MWNumericArray) camStruct.getField(camStructName, 1);int[] dims = radialArr.getDimensions();  // e.g., [1,2]double[] flat = radialArr.getDoubleData(); // 长度 = 2// flat 就是 [k1, k2]cpj.setRadialDistortion(flat);} finally {if (radialArr != null) radialArr.dispose();}break;case "TangentialDistortion":// ----------------------------// 3. 拿 TangentialDistortion (size = [1,2])// ----------------------------MWNumericArray tangentialArr = null;try {tangentialArr = (MWNumericArray) camStruct.getField(camStructName, 1);double[] flat = tangentialArr.getDoubleData(); // [p1, p2]cpj.setTangentialDistortion(flat);} finally {if (tangentialArr != null) tangentialArr.dispose();}break;case "RotationMatrices":// ----------------------------// 4. 拿 RotationMatrices (size = [3,3,N])//    MATLAB 的维度顺序是 (row, col, index) = (3,3,N)//    我们要把它转换成 Java 的 double[N][3][3]// ----------------------------MWNumericArray rotArr = null;try {rotArr = (MWNumericArray) camStruct.getField(camStructName, 1);int[] dims = rotArr.getDimensions();  // 应该是 [3,3,N]int rows = dims[0];   // 3int cols = dims[1];   // 3int N = dims[2];   // 图像数量double[] flat = rotArr.getDoubleData(); // column-major, length = 3*3*Ndouble[][][] rotationMatrices = new double[N][rows][cols];// column-major 多维索引：线性索引 = i + j*rows + k*(rows*cols)// 对应 MATLAB 索引 (i+1, j+1, k+1)for (int k = 0; k < N; k++) {for (int j = 0; j < cols; j++) {for (int i = 0; i < rows; i++) {int linearIndex = i + j * rows + k * (rows * cols);rotationMatrices[k][i][j] = flat[linearIndex];}}}cpj.setRotationMatrices(rotationMatrices);} finally {if (rotArr != null) rotArr.dispose();}break;case "TranslationVectors":// ----------------------------// 5. 拿 TranslationVectors (size = [N,3])//    MATLAB 这里 dims = [N,3]//    Java 希望存成 double[N][3]// ----------------------------MWNumericArray transArr = null;try {transArr = (MWNumericArray) camStruct.getField(camStructName, 1);int[] dims = transArr.getDimensions(); // [N, 3]int N = dims[0], C = dims[1];          // C 应该是 3double[] flat = transArr.getDoubleData(); // 长度 = N*3double[][] transVectors = new double[N][C];// MATLAB column-major: linearIndex = i + j*Nfor (int j = 0; j < C; j++) {for (int i = 0; i < N; i++) {int linearIndex = i + j * N;transVectors[i][j] = flat[linearIndex];}}cpj.setTranslationVectors(transVectors);} finally {if (transArr != null) transArr.dispose();}break;case "WorldPoints":// ----------------------------// 6. 拿 WorldPoints (size = [M,2])//    Java 存成 double[M][2]// ----------------------------MWNumericArray wpArr = null;try {wpArr = (MWNumericArray) camStruct.getField(camStructName, 1);int[] dims = wpArr.getDimensions(); // [M, 2]int M = dims[0], C = dims[1];       // C 应该是 2double[] flat = wpArr.getDoubleData(); // 长度 = M*2double[][] worldPoints = new double[M][C];for (int j = 0; j < C; j++) {for (int i = 0; i < M; i++) {int linearIndex = i + j * M;worldPoints[i][j] = flat[linearIndex];}}cpj.setWorldPoints(worldPoints);} finally {if (wpArr != null) wpArr.dispose();}break;case "ReprojectionErrors":// ----------------------------// 7. 拿 ReprojectionErrors (size = [M,2,N])//    Java 存成 double[M][2][N]// ----------------------------MWNumericArray reprojArr = null;try {reprojArr = (MWNumericArray) camStruct.getField(camStructName, 1);int[] dims = reprojArr.getDimensions();  // [M,2,N]int M = dims[0], C = dims[1], N = dims[2];double[] flat = reprojArr.getDoubleData(); // 长度 = M*2*N// 按 MATLAB 线性索引： linearIndex = i + j*M + k*(M*2)double[][][] reprojErrors = new double[M][C][N];for (int k = 0; k < N; k++) {for (int j = 0; j < C; j++) {for (int i = 0; i < M; i++) {int linearIndex = i + j * M + k * (M * C);reprojErrors[i][j][k] = flat[linearIndex];}}}cpj.setReprojectionErrors(reprojErrors);} finally {if (reprojArr != null) reprojArr.dispose();}break;case "ImageSize":// ----------------------------// 8. 拿 ImageSize (size = [2,1] 或 [1,2])//    Java 存成 int[2]： [rows, cols]// ----------------------------MWNumericArray imgSizeArr = null;try {imgSizeArr = (MWNumericArray) camStruct.getField(camStructName, 1);int[] dims = imgSizeArr.getDimensions(); // 可能是 [1,2]，即 [rows, cols]double[] flat = imgSizeArr.getDoubleData(); // 长度 = 2int rows = (int) flat[0];int cols = (int) flat[1];cpj.setImageSize(new int[]{rows, cols});} finally {if (imgSizeArr != null) imgSizeArr.dispose();}break;case "WorldUnits":// ----------------------------// 9. 拿 WorldUnits （字符串）// ----------------------------MWCharArray wuArr = null;try {wuArr = (MWCharArray) camStruct.getField(camStructName, 1);String worldUnits = wuArr.toString();cpj.setWorldUnits(worldUnits);} finally {if (wuArr != null) wuArr.dispose();}break;case "NumRadialDistortionCoefficients":// ----------------------------// 10. 拿 NumRadialDistortionCoefficients （标量）// ----------------------------MWNumericArray numRadArr = null;try {numRadArr = (MWNumericArray) camStruct.getField(camStructName, 1);double[] flat = numRadArr.getDoubleData(); // 长度 = 1int numRad = (int) flat[0];cpj.setNumRadialDistortionCoefficients(numRad);} finally {if (numRadArr != null) numRadArr.dispose();}break;case "MeanReprojectionError":// ----------------------------// 10. 拿 MeanReprojectionError （标量）// ----------------------------MWNumericArray mranRadArr = null;try {// 直接从 camStruct 里拿字段mranRadArr = (MWNumericArray) camStruct.getField(camStructName,1);// 拿到一个长度为 1 的 double[]，里面就是标量double[] flat = mranRadArr.getDoubleData();double meanVal = flat[0];cpj.setMeanReprojectionError(meanVal);} finally {if (mranRadArr != null) mranRadArr.dispose();}break;default:break;}}return cpj;}
}

问题解答

com/matlab/CalibrationProcessor has been compiled by a more recent version of the Java Runtime (class file version 65.0), this version of the Java Runtime only recognizes class file versions up to 55.0

详细日志：

Exception in thread "main" java.lang.UnsupportedClassVersionError: com/matlab/CalibrationProcessor has been compiled by a more recent version of the Java Runtime (class file version 65.0), this version of the Java Runtime only recognizes class file versions up to 55.0at java.base/java.lang.ClassLoader.defineClass1(Native Method)at java.base/java.lang.ClassLoader.defineClass(ClassLoader.java:1022)at java.base/java.security.SecureClassLoader.defineClass(SecureClassLoader.java:174)at java.base/jdk.internal.loader.BuiltinClassLoader.defineClass(BuiltinClassLoader.java:800)at java.base/jdk.internal.loader.BuiltinClassLoader.findClassOnClassPathOrNull(BuiltinClassLoader.java:698)at java.base/jdk.internal.loader.BuiltinClassLoader.loadClassOrNull(BuiltinClassLoader.java:621)at java.base/jdk.internal.loader.BuiltinClassLoader.loadClass(BuiltinClassLoader.java:579)at java.base/jdk.internal.loader.ClassLoaders$AppClassLoader.loadClass(ClassLoaders.java:178)at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:527)at com.example.javademo.matlab.TestCalib.main(TestCalib.java:14)

问题原因：

com/matlab/CalibrationProcessor 已经被编译为更新版本的 Java 运行时（类文件版本 65.0），而此版本的 Java 运行时仅支持最高到类文件版本 55.0。

55对应的是java 11，65对应的是java21

Java interpreter architecture: maca64.

详细日志：

Exception in thread "main" java.lang.UnsatisfiedLinkError: Failed to find the required library libmwmclmcrrt.24.1.dylib on java.library.path.
This library is typically installed along with MATLAB or the MATLAB Runtime. Its absence may indicate an issue with that installation or 
the current path configuration, or a mismatch with the architecture of the Java interpreter on the path.
MATLAB Runtime version this component is attempting to use: 24.1.
Java interpreter architecture: maca64.at com.mathworks.toolbox.javabuilder.internal.MCRConfiguration$ProxyLibraryDir.get(MCRConfiguration.java:195)at com.mathworks.toolbox.javabuilder.internal.MCRConfiguration$ProxyLibraryDir.<clinit>(MCRConfiguration.java:205)at com.mathworks.toolbox.javabuilder.internal.MCRConfiguration.getProxyLibraryDir(MCRConfiguration.java:210)at com.mathworks.toolbox.javabuilder.internal.MCRConfiguration$MCRRoot.get(MCRConfiguration.java:64)at com.mathworks.toolbox.javabuilder.internal.MCRConfiguration$MCRRoot.<clinit>(MCRConfiguration.java:76)at com.mathworks.toolbox.javabuilder.internal.MCRConfiguration.getMCRRoot(MCRConfiguration.java:81)at com.mathworks.toolbox.javabuilder.internal.MCRConfiguration$ModuleDir.<clinit>(MCRConfiguration.java:53)at com.mathworks.toolbox.javabuilder.internal.MCRConfiguration.getModuleDir(MCRConfiguration.java:58)at com.mathworks.toolbox.javabuilder.internal.MWMCR.<clinit>(MWMCR.java:1775)at com.mathworks.toolbox.javabuilder.MWApplication.isMCRInitialized(MWApplication.java:80)at com.mathworks.toolbox.javabuilder.MWApplication.initialize(MWApplication.java:48)at com.example.javademo.matlab.TestCalib.main(TestCalib.java:11)