Hello,
I just tried your data with my code, and i recieve the same results as you.
Your code is correct, but maybe your data is not solid enough.
What are your approach towards collecting your data?
Some tips towards a hand eye calibration can be found in, besides the information from their page, you want to have unique robot poses over the working area, your application needs to run.
Are you completly sure that your images matches the same time stamp of the robot pose, and they are in the exact same order? I suppose you created a function were you record both simultaneously.