images = imageDatastore(fullfile(toolboxdir('vision'),'visiondata', ...
   'calibration','mono'));
imageFileNames = images.Files;

[imagePoints,boardSize] = detectCheckerboardPoints(imageFileNames);

squareSize = 29; 
worldPoints = generateCheckerboardPoints(boardSize,squareSize);

I = readimage(images,10); 
imageSize = [size(I, 1), size(I, 2)];
params = estimateCameraParameters(imagePoints,worldPoints, ...
                                  'ImageSize',imageSize);

points = detectCheckerboardPoints(I);

undistortedPoints = undistortPoints(points,params);

[J, newOrigin] = undistortImage(I,params,'OutputView','full');

undistortedPoints = [undistortedPoints(:,1) - newOrigin(1), ...
                    undistortedPoints(:,2) - newOrigin(2)];

figure; 
imshow(I); 
hold on;
plot(points(:,1),points(:,2),'r*-');
title('Detected Points'); 
hold off;

figure; 
imshow(J); 
hold on;
plot(undistortedPoints(:,1),undistortedPoints(:,2),'g*-');
title('Undistorted Points'); 
hold off;