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When I did many kinds of attempts under opencv, but still can't resolve it, I tried to get other solution. After I use matlab, I found it done.

I compare the imagepoints from opencv and matlab, they are different, I think they should maybe used different algorithms for checkerboard detection, and different algorithm to optimization(maybe Levenberg-Marquardt non-linear least squares algorithm and gradient descent algorithm).

Attached matlab sample code by Matlab software:

% Define images to process

imageFileNames1 = {'F:\CaptureFiles\left1.bmp',...
    };

imageFileNames2 = {'F:\CaptureFiles\right1.bmp',...
    };

% Detect checkerboards in images

[imagePoints, boardSize, imagesUsed] = detectCheckerboardPoints(imageFileNames1, imageFileNames2);

% Generate world coordinates of the checkerboard keypoints

squareSize = 50;  % in units of 'mm'

worldPoints = generateCheckerboardPoints(boardSize, squareSize);

% Calibrate the camera

[stereoParams, pairsUsed, estimationErrors] = estimateCameraParameters(imagePoints, worldPoints, ...
    'EstimateSkew', false, 'EstimateTangentialDistortion', false, ...
    'NumRadialDistortionCoefficients', 2, 'WorldUnits', 'mm', ...
    'InitialIntrinsicMatrix', [], 'InitialRadialDistortion', []);