Overview
How capture and calibration divide the work, when the SDK guides them, and which entry to use.
Overview
Read first: Device discovery & connection (capture starts once a device is connected) · You will be able to: tell whether this run needs the default flow, an external takeover, or a two-stage flow
Capture and Calibration are two consecutive stages with different purposes:
- Capture collects glove raw frames according to the motion prompts provided by the algorithm package; the same capture that meets the requirements can be used by the compatible algorithm packages selected this time.
- Once the device is connected, Calibration uses the completed capture to compute, save, and apply the calibration result for the selected algorithm package and target; retargeting algorithms that require calibration produce valid target joint output only after this stage.
- The algorithm package determines the motions, sampling requirements, and computation method; there is no need to separately select a calibration algorithm.
After selecting an algorithm package, the default flow needs no orchestration of your own: the SDK checks whether the current wearer has a compatible result and, when it does not, organizes the required steps, shows the motion prompts and runs through guided capture interaction inside the normal start() → run_forever() → stop() lifecycle. "Automatic" means the flow is orchestrated by the SDK, not that the process is unattended: the wearer still has to complete the motions and confirm when asked.
Choose the behavior for each need below:
| Requirement | Behavior to use |
|---|---|
| First run or no compatible result for the current wearer | The SDK guides capture and calibration as needed, then continues retargeting |
| Compatible capture and calibration results exist for the current wearer | Automatically reused by default, without repeated capture or computation |
| Keep existing raw frames and only recompute calibration | Set CalibrationConfig(force=True) |
| Ignore reusable raw frames and perform a full recapture | Set CaptureConfig(force=True); the two-stage flow uses start_capture(force=True) |
| A GUI, ROS2, or remote program displays the prompts and buttons of the automatic flow | Use external interaction and map confirm(), skip(), cancel() |
| The application splits capture and target calibration into two business stages | Use the staged flow below |
If an existing capture or calibration record is incomplete, corrupted, or incompatible, the SDK guides capture again; previously saved calibration results that remain valid are unaffected.