Accuracy of hand-eye calibration

[Chunting]

I have some doubts about hand-eye calibration.
Since all the matrix are read from vrep scene, if the vrep model is not accurate enough, does it affect the final result?
See the detail HandEyeCalibrationVrepPlugin.hpp (addFrame())

• From equation AX=XB, it seems good since A and B are relative transform matrix, but double check the effect of inaccuracy from VREP scene

• Is it possible to make it independent of VREP scene?

[Chunting]

Before since the attracsys was blocked in vrep scene, the result of hand-eye calibration was totally wrong.
Now the result seems good enough.