Air carrier Captain reported taking aircraft control of the aircraft after a firm landing and late reaction by the flying First Officer.

Narrative

I was the Captain for ZZZ1 [to] ZZZ with 2 FOs. After almost 2 hour departure delay due to maintenance we had a standard flight. I was PM and FO was PF. After typical last minute arrival and Runway changes into ZZZ we were cleared for the RNAV XXC. The FO disconnected the AP (Autopilot) above 1000agl. The approach was stable and nicely flown. The flare was a bit late and minimal pitch change which resulted in a firm; and potentially hard landing. The wind had been reported at 10 kts about 20 degrees off Runway heading from the left. Speed brakes deployed and there was a lack of aileron input and the wing started to drop. At the same time the aircraft started turning towards left side of Runway as we encountered pilot induced roll oscillation and the opposite wing dropped. I said I have the aircraft and was able to stop the roll and get the aircraft back on centerline. I considered a go around; but did not believe it was a bounced landing and speed brake never stowed; and thrust reverse deployed so a go around was not an option. I made the decision not to write up the landing as a Hard Landing. I originally considered it a Firm landing; but now believe I should have written up the landing as potentially hard. Cause: The lack of flare and absence of directional control after a potentially firm landing. The PF stated they were shocked by the firm landing. They stopped flying the aircraft at that time. Suggestions: While the RA worked it's still necessary to focus on the far end of the Runway. Even when have a firm landing can't stop flying the airplane. I should have made a log book entry for potentially hard landing as well.