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

src/config_loader.py

@@ -236,6 +236,9 @@ class TurnDetectionSettings:
     enabled: bool
     signage_yaw_direction: str
     baseline_strategy: str
+    bearing_correction_enabled: bool
+    horizontal_fov_deg: float
+    bearing_correction_sign: float
     baseline_window_sec: float
     baseline_min_samples: int
     subtle_threshold_deg: float
@@ -637,6 +640,12 @@ def _validate(config: AppConfig) -> None:
     turn = config.turn_detection
     if not isinstance(turn.enabled, bool) or turn.signage_yaw_direction not in {"positive", "negative"}:
         raise ConfigurationError("turn enabled/direction settings are invalid")
+    if not isinstance(turn.bearing_correction_enabled, bool):
+        raise ConfigurationError("turn bearing_correction_enabled must be boolean")
+    if not isinstance(turn.horizontal_fov_deg, (int, float)) or not 1.0 <= turn.horizontal_fov_deg < 179.0:
+        raise ConfigurationError("turn horizontal_fov_deg must be in [1, 179)")
+    if turn.bearing_correction_sign not in {-1.0, 1.0, -1, 1}:
+        raise ConfigurationError("turn bearing_correction_sign must be +1 or -1")
     if turn.baseline_strategy not in {"first_valid", "before_trigger", "region_entry_window"}:
         raise ConfigurationError("invalid turn baseline_strategy")
     if turn.baseline_window_sec <= 0 or turn.baseline_min_samples <= 0:

src/models.py

@@ -358,6 +358,8 @@ class TurnFrameResult:
     turn_level: str
     continuous_duration_sec: float
     failure_reason: str = ""
+    bearing_deg: float | None = None
+    corrected_yaw: float | None = None
 
     def __post_init__(self) -> None:
         if self.track_id < 0 or self.frame_number < 0 or self.continuous_duration_sec < 0:

src/turn_detector.py

@@ -2,6 +2,7 @@
 
 from __future__ import annotations
 
+import math
 import statistics
 from collections import deque
 
@@ -55,6 +56,8 @@ class TurnDetector:
             return self._frame(state, pose, None, None, 0.0, pose.failure_reason or "pose_not_estimated"), events
 
         yaw = pose.yaw
+        bearing_deg = self._estimate_bearing_deg(track, info)
+        corrected_yaw = self._correct_yaw_for_bearing(yaw, bearing_deg)
         if (self.config.face_appearance_enabled and state.missing_started_elapsed is not None
                 and info.elapsed_time_sec - state.missing_started_elapsed >= self.config.face_missing_before_appearance_sec
                 and not state.face_appeared_after_missing):
@@ -62,12 +65,12 @@ class TurnDetector:
             events.append(self._event("face_appeared", state, info, yaw, None, TurnLevel.FACE_APPEARED.value))
         state.missing_started_elapsed = None
         state.last_pose_elapsed = info.elapsed_time_sec
-        state.yaw_history.append((info.elapsed_time_sec, yaw))
-        self._collect_baseline(state, pose, info, track, events)
+        state.yaw_history.append((info.elapsed_time_sec, corrected_yaw))
+        self._collect_baseline(state, pose, info, track, events, corrected_yaw)
         if not state.baseline_acquired or state.baseline_yaw is None:
-            return self._frame(state, pose, None, None, 0.0, "baseline_not_acquired"), events
+            return self._frame(state, pose, None, None, 0.0, "baseline_not_acquired", bearing_deg, corrected_yaw), events
 
-        raw, toward = yaw_delta_toward_signage(yaw, state.baseline_yaw, self.config.signage_yaw_direction)
+        raw, toward = yaw_delta_toward_signage(corrected_yaw, state.baseline_yaw, self.config.signage_yaw_direction)
         if state.max_yaw_delta_toward_signage is None or toward > state.max_yaw_delta_toward_signage:
             state.max_yaw_delta_toward_signage = toward
             state.max_yaw_delta_frame, state.max_yaw_delta_time = info.frame_number, info.timestamp_iso
@@ -95,11 +98,11 @@ class TurnDetector:
         else:
             events.extend(self._end_candidate(state, info, yaw))
         state.turn_level = state.strongest_level if state.strongest_level != TurnLevel.NONE.value else level
-        return self._frame(state, pose, raw, toward, duration, ""), events
+        return self._frame(state, pose, raw, toward, duration, "", bearing_deg, corrected_yaw), events
 
     def _collect_baseline(
         self, state: TurnTrackState, pose: HeadPoseResult, info: FrameInfo,
-        track: TrackState | None, events: list[TurnEvent],
+        track: TrackState | None, events: list[TurnEvent], corrected_yaw: float,
     ) -> None:
         if state.baseline_acquired or pose.yaw is None:
             return
@@ -111,7 +114,7 @@ class TurnDetector:
                            and 0 <= info.elapsed_time_sec - track.entry_monotonic <= self.config.baseline_window_sec)
         if not allowed:
             return
-        state.baseline_samples.append((info.elapsed_time_sec, pose.yaw, info.frame_number, info.timestamp_iso))
+        state.baseline_samples.append((info.elapsed_time_sec, corrected_yaw, info.frame_number, info.timestamp_iso))
         cutoff = info.elapsed_time_sec - self.config.baseline_window_sec
         while state.baseline_samples and state.baseline_samples[0][0] < cutoff:
             state.baseline_samples.popleft()
@@ -133,6 +136,7 @@ class TurnDetector:
     def _frame(
         self, state: TurnTrackState, pose: HeadPoseResult, raw: float | None,
         toward: float | None, duration: float, reason: str,
+        bearing_deg: float | None = None, corrected_yaw: float | None = None,
     ) -> TurnFrameResult:
         level = state.turn_level
         if not pose.pose_estimated:
@@ -144,8 +148,26 @@ class TurnDetector:
             pose.face_detected, pose.pose_estimated, state.baseline_acquired, state.baseline_yaw,
             pose.yaw, raw, toward, self.config.signage_yaw_direction,
             state.candidate_start_elapsed is not None, state.turn_confirmed, level, duration, reason,
+            bearing_deg, corrected_yaw,
         )
 
+    def _estimate_bearing_deg(self, track: TrackState | None, info: FrameInfo) -> float | None:
+        """Estimate the person's camera-relative bearing from tracked x position."""
+        if not self.config.bearing_correction_enabled or track is None or info.width <= 1:
+            return 0.0 if self.config.bearing_correction_enabled and track is None else None
+        if not track.trajectory:
+            return None
+        center_x = track.trajectory[-1].center_x
+        x_norm = max(0.0, min(1.0, center_x / float(info.width - 1)))
+        half_fov_rad = math.radians(self.config.horizontal_fov_deg) / 2.0
+        phi_rad = math.atan((x_norm - 0.5) * 2.0 * math.tan(half_fov_rad))
+        return math.degrees(phi_rad)
+
+    def _correct_yaw_for_bearing(self, yaw: float, bearing_deg: float | None) -> float:
+        if not self.config.bearing_correction_enabled or bearing_deg is None:
+            return yaw
+        return yaw - self.config.bearing_correction_sign * bearing_deg
+
     def finalize_track(self, track_id: int, frame_info: FrameInfo) -> tuple[TurnTrackState | None, list[TurnEvent]]:
         state = self._states.pop(track_id, None)
         if state is None:

src/turn_logger.py

@@ -18,7 +18,8 @@ class TurnLogger:
 
     FRAME_FIELDS = ["experiment_id", "frame_number", "timestamp", "elapsed_time_sec", "track_id", "face_detected",
                     "pose_estimated", "baseline_available", "baseline_yaw", "current_yaw", "yaw_delta_raw",
-                    "yaw_delta_toward_signage", "signage_yaw_direction", "turn_candidate", "turn_confirmed",
+                    "yaw_delta_toward_signage", "signage_yaw_direction", "bearing_deg", "corrected_yaw",
+                    "turn_candidate", "turn_confirmed",
                     "turn_level", "continuous_duration_sec", "failure_reason"]
     EVENT_FIELDS = ["experiment_id", "event_type", "track_id", "frame_number", "timestamp", "elapsed_time_sec",
                     "yaw", "yaw_delta_toward_signage", "turn_level", "metadata_json"]
@@ -73,7 +74,9 @@ class TurnLogger:
                 "baseline_available": item.baseline_available, "baseline_yaw": self._number(item.baseline_yaw),
                 "current_yaw": self._number(item.current_yaw), "yaw_delta_raw": self._number(item.yaw_delta_raw),
                 "yaw_delta_toward_signage": self._number(item.yaw_delta_toward_signage),
-                "signage_yaw_direction": item.signage_direction, "turn_candidate": item.turn_candidate,
+                "signage_yaw_direction": item.signage_direction,
+                "bearing_deg": self._number(item.bearing_deg), "corrected_yaw": self._number(item.corrected_yaw),
+                "turn_candidate": item.turn_candidate,
                 "turn_confirmed": item.turn_confirmed, "turn_level": item.turn_level,
                 "continuous_duration_sec": self._number(item.continuous_duration_sec),
                 "failure_reason": item.failure_reason,