再投影誤差による破綻フレームの除外および窓の時間指定の実装と実験陽設定の更新

config/default.yaml

@@ -98,6 +98,8 @@ head_pose:
   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
+  smoothing_window_sec: 0.0 # >0: median-type windows span this many seconds (overrides smoothing_window)
+  max_reprojection_error_ratio: 0.0 # reject poses with reprojection error > ratio * eye distance [px]; 0 = off (normal frames ~0.07)
 face_logging:
   enabled: true
   log_frame_faces: true

config/experiment.yaml

@@ -38,8 +38,13 @@ head_pose:
   enabled: true
   smoothing_enabled: true
   smoothing_method: median_ema
-  ema_alpha: 0.4
+  ema_alpha: 0.5
   smoothing_window: 5
+  # 3 m static data: median over 0.55 s + EMA 0.5 gave SD 1.85 deg (median5 + EMA 0.4: 3.50 deg)
+  # with about +0.04 s extra lag in a real turn. See docs/head_pose_smoothing.md.
+  smoothing_window_sec: 0.55
+  # Poses with reprojection error > 0.3 x eye distance are degenerate; normal frames are ~0.07.
+  max_reprojection_error_ratio: 0.3
 face_logging:
   enabled: true
 turn_detection: