静止時のノイズ対処のためyaw値フィルタ機能を追加

config/default.yaml

@@ -88,9 +88,16 @@ head_pose:
   enabled: true
   method: solvepnp
   smoothing_enabled: true
+  # none | ema | median_ema | hampel_ema | one_euro | median_one_euro (see src/yaw_filters.py)
   smoothing_method: ema
-  ema_alpha: 0.4
+  ema_alpha: 0.4            # also used by median_ema / hampel_ema
   max_abs_angle: 120.0
+  smoothing_window: 5       # samples; median_ema / hampel_ema / median_one_euro
+  hampel_threshold: 3.0     # robust sigmas; hampel_ema
+  one_euro_min_cutoff: 1.0  # Hz; one_euro / median_one_euro
+  one_euro_beta: 0.0        # keep ~0 unless a median precedes it (e.g. 0.02)
+  one_euro_d_cutoff: 1.0
+  filter_reset_gap_sec: 0.0 # reset filter state after a pose gap longer than this; 0 = never
 face_logging:
   enabled: true
   log_frame_faces: true