s6.vision.output_pose_gate¶
Temporal gating and smoothing for exported T1 output poses.
- class s6.vision.output_pose_gate.OutputPoseSnapshot(translation_mm: Vector3D, rotation: Quaternion, timestamp: float)
Bases:
objectOne accepted or emitted output-pose sample.
- translation_mm: Vector3D
- rotation: Quaternion
- timestamp: float
- clone() OutputPoseSnapshot
Return a detached copy of the snapshot.
- class s6.vision.output_pose_gate.OutputPoseState(valid: bool, translation: list[float], rotation: list[float] | None)
Bases:
objectExport-oriented view of the gate’s latest output state.
- valid: bool
- translation: list[float]
- rotation: list[float] | None
- class s6.vision.output_pose_gate.OutputPoseGate(*, stable_frames_required: int, unstable_frames_to_lost: int, max_drop_frames: int, translation_jump_threshold_mm: float, rotation_jump_threshold_deg: float, smoothing_window: int, rotation_smoothing_window: int)
Bases:
objectStateful pose gate with hysteresis, smoothing, and drop tolerance.
- static from_config(config: OutputPoseGateConfig) OutputPoseGate
Instantiate a gate from validated configuration.
- last_timestamp: float | None
- property accepted_snapshots: list[OutputPoseSnapshot]
Return the accepted smoothing history.
- property last_emitted: OutputPoseSnapshot | None
Return the last emitted pose, if any.
- property has_valid_output: bool
Return whether the gate currently exposes a valid output pose.
- property output_state: OutputPoseState
Return the latest export state derived from the gate state.
- reset() None
Reset tracking, history, and counters.
- update(timestamp: float | None, translation_mm: Vector3D | None, rotation: Quaternion | None, *, valid: bool = True) OutputPoseSnapshot | None
Process one pose sample and return the emitted export pose.
- class s6.vision.output_pose_gate.OutputPoseGateConfig(*, stable_frames_required: ConstrainedIntValue = 3, unstable_frames_to_lost: ConstrainedIntValue = 3, max_drop_frames: ConstrainedIntValue = 2, translation_jump_threshold_mm: ConstrainedFloatValue = 2.0, rotation_jump_threshold_deg: ConstrainedFloatValue = 8.0, smoothing_window: ConstrainedIntValue = 3, rotation_smoothing_window: ConstrainedIntValue = 3)
Bases:
BaseModelConfiguration for
OutputPoseGateconstruction.- stable_frames_required: int
- unstable_frames_to_lost: int
- max_drop_frames: int
- translation_jump_threshold_mm: float
- rotation_jump_threshold_deg: float
- smoothing_window: int
- rotation_smoothing_window: int