方位角で補正し，振り向かず歩いた場合に振り向き判定されないように

config/default.yaml

@@ -112,6 +112,11 @@ turn_detection:
   enabled: true
   signage_yaw_direction: positive
   baseline_strategy: first_valid
+  # Camera-relative position compensation for side-crossing pedestrians.
+  # corrected_yaw = raw_yaw - bearing_correction_sign * bearing_deg
+  bearing_correction_enabled: true
+  horizontal_fov_deg: 70.0
+  bearing_correction_sign: 1.0
   baseline_window_sec: 0.8
   baseline_min_samples: 3
   subtle_threshold_deg: 10.0