Live Hand-Eye Calibration
=========================

The algorithm processes a stream of an end effector and a camera for the hand-eye calibration.

Input
-----

* Tracking stream of the robot end effector
* Tracking stream of the camera with respect to the calibration marker

Output
------
The transformation matrices are printed in the log output.

Description
-----------

The algorithm has two main parts:

    * Samples:
        * **Add**:
            Acquires a new sample from the streams.
        * **Remove last**:
            Removes the latest sample from the streams.
        * **Load**:
            Load previously acquired samples.
        * **Save**:
            Save previously acquired samples.

    * Calibration:
        * **Type**:
            Can be ``Eye in Hand`` or ``Eye on Base``. Refer to :ref:`hand-eye calibration<handeyecalibration>` for the explanation of these types.
        * **Stream 1**:
            Relativity of the acquired first stream. If this stream is set to ``HandToBase`` or ``BaseToHand``, the other should be set to ``CalibToCam`` or ``CamToCalib``.
        * **Stream 2**:
            Relativity of the acquired second stream. If this stream is set to ``HandToBase`` or ``BaseToHand``, the other should be set to ``CalibToCam`` or ``CamToCalib``.
        * The button **Save** allows saving of the calibration (Camera-to-Hand in ``Eye in Hand`` case or Base-to-Camera in ``Eye on Base`` case).