Samundra
There are many reasons that could give rise to the observed distribution of perpendicular distances you show. Most common reasons for this distribution are a) evasive movement on the part of the animals or b) distribution of animals available to be detected
is lower at small distances from the transect. Cause b) is often associated with transects placed along features known to the animals; such as tracks.
If you have eliminated these possible causes, only then can you consider other explanations. Transects need not necessarily be straight, but perpendicular distances do need to be recorded to the transect; this is most easily accomplished with straight transects.
Even if it is correct that compass bearings are at fault, I do not know how you would correct the recorded data. Corrections you might make would also be based upon supposition; thereby introducing new uncertainty into the data.
If the cause of the problem is (b) above, then left truncation is not the remedy. See the short note published by Marques (2016) in response to a paper that employed left truncation in an ungulate survey:
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Marques, T. A. (2016). A comment on Horcajada-Sánchez and Barja (2015): A cautionary tale about left truncation and density gradients in distance sampling. Annales Zoologici Fennici, 53(1/2), 52–54.