s6.vision.roi_stabilizer

Camera-space ROI stabilization for predicted T1 tracking windows.

class s6.vision.roi_stabilizer.ROIStabilizer(*, camera: Camera, default_center: Vector2D, radius: float)

Bases: object

Stabilize a projected camera-space ROI center over time.

DEADBAND_FRAC_SLOW: float = 0.22

DEADBAND_FRAC_FAST: float = 0.05

FOLLOW_ALPHA_SLOW: float = 0.28

FOLLOW_ALPHA_FAST: float = 0.9

MAX_SPEED_PX_PER_SEC_SLOW: float = 700.0

MAX_SPEED_PX_PER_SEC_FAST: float = 2600.0

SPEED_REFERENCE_PX_PER_SEC: float = 900.0

ACCEL_REFERENCE_PX_PER_SEC2: float = 4500.0

reset(center: Vector2D | None = None, timestamp: float | None = None) → None

Clear or reseed the stabilizer state.

update(frame: TrackingFrameV2) → Vector2D | None

Update the stabilized ROI center from one predicted tracking frame.