双目矫正图片 很差

求大神指点

# coding:utf-8
import numpy as np
import cv2
import matplotlib.pyplot as plt
from PIL import Image
import glob

# 设置迭代终止条件
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
criteria_stereo = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# 设置 object points, 形式为 (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((11 * 7, 3), np.float32)  # 我用的是6×7的棋盘格，可根据自己棋盘格自行修改相关参数
objp[:, :2] = np.mgrid[0:11, 0:7].T.reshape(-1, 2)

# 用arrays存储所有图片的object points 和 image points
objpoints = []  # 3d points in real world space
imgpointsR = []  # 2d points in image plane
imgpointsL = []

# 本次实验采集里共计30组待标定图片依次读入进行以下操作
for i in range(3, 32):
    t = str(i)
    ChessImaR = cv2.imread(r'D:\p\right\\' + 'right_' + t + '.jpg', 0)  # 右视图
    ChessImaL = cv2.imread(r'D:\p\left\\' +