OpenCV立体摄像机标定/图像校正。

I'm trying to calibrate my two Point Grey (Blackfly) cameras for stereo vision. I'm using the tutorial stereo_calib.cpp that comes with OpenCV (code below). For some reason, I'm getting really bad results (RMS error=4.49756 and average reprojection err = 8.06533) and all my rectified images come out grey. I think my problem is that I'm not picking the right flags for the stereoCalibrate() function, but I've tried many different combinations and at best the rectified images would be warped. I'm trying to calibrate my two Point Grey (Blac