Live Hand-Eye Evaluation
========================

The algorithm performs an evaluation of hand-eye calibration

Input
-----

Two tracking streams

Output
------

None

Description
-----------
The algorithm takes two tracking streams and evaluates the hand-eye calibration.
The content of the stream matrices should be specified in **Stream1** and **Stream2** comboboxes and the calibration type in the **Calibration Type** combobox. Refer to the documentation of the :ref:`hand-eye calibration<handeyecalibration>` for the terminology.

The hand-eye calibration should be set through the transformation dialog and the **Set Calibration** button or loaded as a .csv file with the **Load Calibration** button. The expected matrix should be a transformation from camera (moving CS) to hand in case of ``Eye In Hand`` and a transformation from base to camera (fixed CS) in case of ``Eye On Base``.

The results of the evaluation are displayed in **Resulting Error** group box. The transformation dialog there displays the difference between the very first and the current matrix:

:sup:`hand` T :sub:`base` * :sup:`cam` T :sub:`hand` * :sup:`calib` T :sub:`cam` for ``Eye In Hand``

or

:sup:`hand` T :sub:`calib` * :sup:`base` T :sub:`cam` * :sup:`hand` T :sub:`base` for ``Eye On Base``

This matrix should remain constant, and therefore in ideal case the transformation displayed should be 0.

To reset the very first matrix, one can use the **Reset transform** button.