matlab checkerboard,Detect checkerboard pattern in image

Detected checkerboard corner coordinates, returned as an

M-by-2 matrix for one image. For multiple images,

points are returned as an M-by-2-by-number of

images array, and for stereo pairs of images, the function

returns points as an M-by-2-by-number of

pairs-by-number of cameras array.

For stereo pairs, imagePoints(:,:,:,1) are the points

from the first set of images, and imagePoints(:,:,:,2)

are the points from the second set of images. The output contains

M number of [x

y] coordinates. Each coordinate represents a point where

square corners are detected on the checkerboard. The number of points the

function returns depends on the value of boardSize,

which indicates the number of squares detected. The function detects the

points with sub-pixel accuracy.

The function calculates the number of points, M, as follows:M