feat: V2 alignment (Method D + alignment.py) demo-final 에 이식

feature/tab-navigation 의 V2 코드를 demo-final 로 가져와 임상 alignment session 에서 V1/V2 둘 다 선택 가능하도록. 복사된 파일 (feature/tab-navigation 그대로): walldetect/algo/SgSmoothGeneric.kt walldetect/algo/methodd/MethodDParams.kt walldetect/algo/methodd/MethodDPreprocessing.kt walldetect/algo/methodd/MethodDSpan.kt walldetect/algo/methodd/MethodDWallSelect.kt walldetect/algo/methodd/MethodDTgc.kt walldetect/MethodDDetector.kt walldetect/MethodDRunner.kt managers/AlignmentAdvisorV2.kt (RollingAligner + AlignGuide4Stage + AlignmentAdvice — alignment.py 1:1) 확장: walldetect/algo/Otsu.kt + otsu1dWithSeparability(values) — Python otsu_1d 의 (threshold, sep) tuple 호환 method_d span fallback gate 에서 사용 managers/GreenZoneConstants.kt + enum AlignmentAlgo { V1, V2 } + @Volatile var alignmentAlgo: AlignmentAlgo = V1 (default = legacy) ui/views/monitoring/PlacementGuideView.kt + val v2Aligner = remember { RollingAligner() } + V2 분기 (alignmentAlgo == V2 시): raw 6ch → push → state(accum/commit) → directionHint/directionIcon/placementScore/LED 설정 → bleManager.debugLogger.info("ALIGN_V2 phase=... state=... bestSet=...") + ⚙ Settings overlay 에 V1 (legacy) / V2 (new) 토글 (보라색) + addAlignmentFrame 호출 시 V2 활성이면 v2Aligner.phase.name 사용 (4-stage) ui/views/clinical/ClinicalHomeView.kt + ClinicalSession.alignmentAlgo 를 현재 GreenZoneConstants.alignmentAlgo 값으로 채움 (이전 demo-final 은 "V1" 하드코딩) → V2 토글 후 Sensor Alignment 진입 시 alignment_algo="V2" 가 json 에 기록 영향: - 기존 V1 동작 그대로 (default 가 V1, 토글 안 하면 동일) - V2 선택 시 demo-final 에서도 4-stage 진행 가능 + json 라벨 V2 명시 - 알고리즘 토글은 dev 모드 (⚙ 버튼) 에서만 가능 — 일반 사용자 노출 X Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
2026-06-17 14:03:34 +09:00
parent 429964571f
commit 718016af7a
13 changed files with 1306 additions and 4 deletions
@@ -0,0 +1,326 @@
+/*
+ * Alignment Advisor V2 — port of vesiscan_test/alignment.py.
+ *
+ * 새 알고리즘 (한 팀장 / 대표님 회의 결정사항):
+ *   ─ method_d 기반 urine_len 으로 정렬 판단
+ *   ─ 2-phase: V (CH3 검출 → 머리방향) → L (CH4/CH5 urine_len 균형)
+ *   ─ |u4 − u5| ≤ LAT_TOL(8 samples ≈ 16mm) 이면 STOP
+ *   ─ ulen 큰 쪽으로 이동 (= 큰 쪽이 방광 중심)
+ *   ─ 둘 다 미검출 → 좌우 PROBE 모드 (hill-climbing 으로 최대점 추적)
+ *
+ * 입력은 raw 6채널 (각 길이 100, UShort/Int 어느 쪽이든 toDouble() 가능).
+ * RollingAligner 가 N=accumK(default 10) 프레임 평균 후 한 번씩 commit.
+ *
+ * UI 측에서는 `push(raw6)` 호출 → AdvisorState.action 확인 → directionIcon/Hint
+ * 매핑. 위치 이동 직후엔 `reset()` 으로 누적 버퍼 비우기 권장.
+ *
+ * 기존 PlacementGuide computePlacementGuide(...) 와 병행 — V1/V2 토글로 분기.
+ */
+package com.example.medilightv2android.managers
+
+import com.example.medilightv2android.walldetect.MethodDResult
+import com.example.medilightv2android.walldetect.MethodDRunner
+import com.example.medilightv2android.walldetect.algo.methodd.MethodDParams
+import kotlin.math.abs
+import kotlin.math.max
+
+/** action 상수. MOVE_DOWN 은 4-stage guide 의 set 회복 (잃은 center channel 다시 찾기) 용. */
+enum class AlignAction { MOVE_UP, MOVE_DOWN, MOVE_LEFT, MOVE_RIGHT, PROBE_LR, STOP }
+
+/** RollingAligner.push() 결과. */
+data class AdvisorState(
+    val state: String,                  // 'accum' 또는 'commit'
+    val action: AlignAction?,
+    val msg: String,
+    val dets: List<MethodDResult?>?,
+    val summary: AlignSummary?,
+    val accumProgress: Int = 0,         // 'accum' 일 때 (현재/총)
+    val accumTarget: Int = 0,
+)
+
+data class AlignSummary(
+    val ch3: Boolean,
+    val u4: Int?,
+    val u5: Int?,
+    val chN: Int,
+    /** Per-channel detection (size 6). center=[0,1,2,3], lateral=[4,5]. */
+    val detected: BooleanArray = BooleanArray(6),
+)
+
+object AlignmentConstants {
+    const val CH3 = 3                   // 치골쪽 최하단 center 채널
+    const val LAT_TOL = 8               // 좌우 균형 허용 |u4-u5| (samples, ≈16mm)
+    val CENTER_CH = intArrayOf(0, 1, 2, 3)
+    val LATERAL_CH = intArrayOf(4, 5)
+}
+
+/** stateless 단일 스냅샷 advisor — alignment.py:alignment_advice(). */
+object AlignmentAdvice {
+    fun advise(ch3: Boolean, u4: Int?, u5: Int?, latTol: Int = AlignmentConstants.LAT_TOL): Pair<AlignAction, String> {
+        if (!ch3) return Pair(AlignAction.MOVE_UP, "↑ 머리방향으로 이동  (ch3 미검출)")
+        if (u4 != null && u5 != null) {
+            val d = abs(u4 - u5)
+            if (d <= latTol) return Pair(AlignAction.STOP, "■ 정렬 완료 — 정지  (|Δ|=$d)")
+            return if (u4 < u5)
+                Pair(AlignAction.MOVE_RIGHT, "→ 우측으로 이동  (ch4 $u4 < ch5 $u5, |Δ|=$d)")
+                else
+                Pair(AlignAction.MOVE_LEFT, "← 좌측으로 이동  (ch5 $u5 < ch4 $u4, |Δ|=$d)")
+        }
+        if (u4 == null && u5 == null)
+            return Pair(AlignAction.PROBE_LR, "↔ 좌우로 천천히 이동해 lateral 탐색  (ch4·ch5 미검출)")
+        return if (u4 == null) Pair(AlignAction.MOVE_RIGHT, "→ 우측으로 이동  (ch4 미검출)")
+                else            Pair(AlignAction.MOVE_LEFT,  "← 좌측으로 이동  (ch5 미검출)")
+    }
+}
+
+/**
+ * 2-phase stateful guide — Python `AlignGuide`.
+ * (RollingAligner 는 단일 commit 마다 stateless advice 만 사용하지만, 향후
+ *  imbal hill-climbing 모드에서 쓸 수 있도록 같이 포팅.)
+ */
+class AlignGuide(private val latTol: Int = AlignmentConstants.LAT_TOL) {
+    private enum class Phase { V, L }
+    private var phase = Phase.V
+    private var imbal: Int? = null
+    private var u: Int? = null
+    private var dir: AlignAction? = null
+    private var triedBoth = false
+
+    fun reset() {
+        phase = Phase.V
+        imbal = null; u = null; dir = null; triedBoth = false
+    }
+
+    fun step(summary: AlignSummary): Pair<AlignAction, String> {
+        if (phase == Phase.V) {
+            if (!summary.ch3) return Pair(AlignAction.MOVE_UP, "ch3 미검출 — 머리방향 이동")
+            phase = Phase.L
+        }
+        return lateral(summary)
+    }
+
+    private fun lateral(s: AlignSummary): Pair<AlignAction, String> {
+        val u4 = s.u4
+        val u5 = s.u5
+        if (u4 != null && u5 != null) {
+            val curImbal = abs(u4 - u5)
+            if (curImbal <= latTol) return Pair(AlignAction.STOP, "좌우 균형 |Δulen|=$curImbal<=$latTol")
+            if (dir == null) {
+                dir = if (u4 < u5) AlignAction.MOVE_RIGHT else AlignAction.MOVE_LEFT
+            } else if (imbal != null && curImbal > imbal!!) {
+                // 악화 → 반대로
+                dir = if (dir == AlignAction.MOVE_LEFT) AlignAction.MOVE_RIGHT else AlignAction.MOVE_LEFT
+            }
+            imbal = curImbal
+            return Pair(dir!!, "불균형 |Δulen|=$curImbal 감소 방향")
+        }
+        // 미검출 (probe 모드)
+        val cur = max(u4 ?: 0, u5 ?: 0)
+        if (dir == null) {
+            dir = AlignAction.MOVE_LEFT
+            u = cur
+            return Pair(AlignAction.MOVE_LEFT, "lateral 미검출 — 좌측 probe")
+        }
+        if (cur > (u ?: 0)) {
+            u = cur
+            return Pair(dir!!, "ulen 증가($cur) — ${dir!!.name} 계속")
+        }
+        if (!triedBoth && dir == AlignAction.MOVE_LEFT) {
+            dir = AlignAction.MOVE_RIGHT
+            triedBoth = true
+            u = cur
+            return Pair(AlignAction.MOVE_RIGHT, "좌측 미개선 — 우측 probe")
+        }
+        return Pair(AlignAction.STOP, "ulen 최대(${u ?: 0}) 위치 정지")
+    }
+}
+
+/**
+ * 4-stage stateful guide — 사용자 설계 (2026-06-16).
+ *
+ * 단계:
+ *   1. INITIAL_ACCUM    — 첫 10 cycle warm-up, 안내 X (msg 만)
+ *   2. VERTICAL_CLIMB   — ch3 검출까지 ↑
+ *   3. CH3_STABILIZE    — ch3 검출 후 10 cycle 또 누적 (자세 확정)
+ *   4. LR_BALANCE       — current center set 유지하며 좌우 균형
+ *                          set 잃으면 회복 (lost ch3 → ↑, else → ↓)
+ *
+ * Stage 4 의 bestCenterSet 은 ever-best — set 이 한 번 ch3+ch2+ch1 까지 갔다가
+ * ch1 사라져도, 목표는 여전히 ch3+ch2+ch1. 회복 후 좌우 계속.
+ */
+class AlignGuide4Stage(
+    private val latTol: Int = AlignmentConstants.LAT_TOL,
+    private val initialTarget: Int = 10,
+    private val stabilizeTarget: Int = 10,
+) {
+    enum class Phase4 { INITIAL_ACCUM, VERTICAL_CLIMB, CH3_STABILIZE, LR_BALANCE }
+
+    data class Out(val action: AlignAction?, val msg: String, val phase: Phase4, val progress: Int = 0)
+
+    var phase: Phase4 = Phase4.INITIAL_ACCUM
+        private set
+    var bestCenterSet: Set<Int> = emptySet()
+        private set
+    private var initialCount = 0
+    private var stabilizeCount = 0
+    private var lateralDir: AlignAction? = null
+    private var lateralImbal: Int? = null
+
+    fun reset() {
+        phase = Phase4.INITIAL_ACCUM
+        bestCenterSet = emptySet()
+        initialCount = 0
+        stabilizeCount = 0
+        lateralDir = null
+        lateralImbal = null
+    }
+
+    fun step(s: AlignSummary): Out {
+        val curSet = (0..3).filter { it < s.detected.size && s.detected[it] }.toSet()
+
+        // === Phase 1: INITIAL_ACCUM ===
+        if (phase == Phase4.INITIAL_ACCUM) {
+            initialCount++
+            if (initialCount < initialTarget) {
+                return Out(null, "측정 준비 중...  (${initialCount}/${initialTarget})",
+                    phase, initialCount)
+            }
+            phase = Phase4.VERTICAL_CLIMB
+        }
+
+        // === Phase 2: VERTICAL_CLIMB ===
+        if (phase == Phase4.VERTICAL_CLIMB) {
+            if (!s.ch3) {
+                return Out(AlignAction.MOVE_UP, "↑ 위로 조금씩 올리세요  (ch3 미검출)",
+                    phase, 0)
+            }
+            phase = Phase4.CH3_STABILIZE
+            stabilizeCount = 0
+            bestCenterSet = curSet
+        }
+
+        // === Phase 3: CH3_STABILIZE ===
+        if (phase == Phase4.CH3_STABILIZE) {
+            stabilizeCount++
+            if (curSet.size > bestCenterSet.size) bestCenterSet = curSet
+            if (!s.ch3) {
+                // ch3 잃었으면 → VERTICAL_CLIMB 회귀
+                phase = Phase4.VERTICAL_CLIMB
+                stabilizeCount = 0
+                return Out(AlignAction.MOVE_UP, "↑ ch3 다시 잃음 — 위로",
+                    phase, 0)
+            }
+            if (stabilizeCount < stabilizeTarget) {
+                return Out(AlignAction.STOP,
+                    "✓ ch3 검출! 위치 유지  (${stabilizeCount}/${stabilizeTarget})",
+                    phase, stabilizeCount)
+            }
+            phase = Phase4.LR_BALANCE
+        }
+
+        // === Phase 4: LR_BALANCE ===
+        if (curSet.size > bestCenterSet.size) bestCenterSet = curSet
+        val setLabel = bestCenterSet.sortedDescending().joinToString("+") { "ch$it" }
+        val lost = bestCenterSet - curSet
+        if (lost.isNotEmpty()) {
+            // 잃은 채널 있음 → 회복 우선. ch3 잃었으면 더 위로, 아니면 아래로.
+            val recoveryDir = if (3 in lost) AlignAction.MOVE_UP else AlignAction.MOVE_DOWN
+            val lostLabel = lost.sortedDescending().joinToString(",") { "ch$it" }
+            val arrow = if (recoveryDir == AlignAction.MOVE_UP) "↑" else "↓"
+            return Out(recoveryDir, "$arrow $lostLabel 잃음 — 위치 회복", phase, 0)
+        }
+
+        // full set 유지 중 — 좌우 균형
+        val u4 = s.u4
+        val u5 = s.u5
+        if (u4 != null && u5 != null) {
+            val imbal = kotlin.math.abs(u4 - u5)
+            if (imbal <= latTol) {
+                return Out(AlignAction.STOP,
+                    "■ 정렬 완료  ($setLabel 유지, |Δ|=$imbal)", phase, 0)
+            }
+            if (lateralDir == null) {
+                lateralDir = if (u4 < u5) AlignAction.MOVE_RIGHT else AlignAction.MOVE_LEFT
+            } else if (lateralImbal != null && imbal > lateralImbal!!) {
+                lateralDir = if (lateralDir == AlignAction.MOVE_LEFT) AlignAction.MOVE_RIGHT
+                             else AlignAction.MOVE_LEFT
+            }
+            lateralImbal = imbal
+            val arrow = if (lateralDir == AlignAction.MOVE_LEFT) "←" else "→"
+            return Out(lateralDir!!, "$arrow $setLabel 유지 + 좌우 균형  (|Δ|=$imbal)",
+                phase, 0)
+        }
+        // u4/u5 미검출 → probe
+        return Out(AlignAction.PROBE_LR, "↔ $setLabel 유지 + 좌우 천천히 (lateral 미검출)",
+            phase, 0)
+    }
+}
+
+/**
+ * k-프레임 누적 + commit 한 번 — Python `RollingAligner`.
+ *
+ * push(raw6) 호출 시:
+ *   - buf.size < accumK 인 동안: state='accum'
+ *   - 충분히 모이면: 평균 → method_d → summarize → advice → state='commit'
+ *
+ * UI 는 commit 일 때만 화살표 갱신, accum 일 때는 "측정 중… N/K" 표시.
+ */
+class RollingAligner(
+    private val latTol: Int = AlignmentConstants.LAT_TOL,
+    private val accumK: Int = 10,
+    private val methodDParams: MethodDParams = MethodDParams.DEFAULT,
+) {
+    private val buf = ArrayDeque<List<DoubleArray>>()
+    private val guide4 = AlignGuide4Stage(latTol = latTol,
+        initialTarget = accumK, stabilizeTarget = accumK)
+    /** 마지막 commit 결과. 외부 query 용. */
+    var lastCommit: AdvisorState? = null
+        private set
+    /** 현재 4-stage phase — UI step indicator 용. */
+    val phase: AlignGuide4Stage.Phase4 get() = guide4.phase
+    /** 지금까지 검출된 최대 center channel set — Phase 4 의 lock 대상. */
+    val bestCenterSet: Set<Int> get() = guide4.bestCenterSet
+
+    fun reset() {
+        buf.clear()
+        guide4.reset()
+    }
+
+    /** 단일 채널 길이 100 가정. raw6.size == 6 이어야 함. */
+    fun push(raw6: List<DoubleArray>): AdvisorState {
+        // ring buffer — accumK 사이즈 sliding window. buf 가 덜 찼어도 항상 step 호출
+        // (점진 평균 + 4-stage 가 INITIAL_ACCUM 으로 처리).
+        buf.addLast(raw6)
+        while (buf.size > accumK) buf.removeFirst()
+
+        val nCh = raw6.size
+        val avg = List(nCh) { ch ->
+            val len = buf.first()[ch].size
+            DoubleArray(len) { i ->
+                var sum = 0.0
+                for (frame in buf) sum += frame[ch][i]
+                sum / buf.size
+            }
+        }
+        val dets = MethodDRunner.detectMultichannel(avg, methodDParams)
+        val summary = summarize(dets)
+        val out = guide4.step(summary)
+        val state = if (out.phase == AlignGuide4Stage.Phase4.INITIAL_ACCUM) "accum" else "commit"
+        val st = AdvisorState(
+            state = state, action = out.action, msg = out.msg,
+            dets = dets, summary = summary,
+            accumProgress = if (state == "accum") out.progress else accumK,
+            accumTarget = accumK,
+        )
+        lastCommit = st
+        return st
+    }
+
+    private fun summarize(dets: List<MethodDResult?>): AlignSummary {
+        fun u(i: Int) = if (i < dets.size) dets[i]?.urineLen else null
+        val ch3 = dets.size > AlignmentConstants.CH3 && dets[AlignmentConstants.CH3] != null
+        val chN = AlignmentConstants.CENTER_CH.count { it < dets.size && dets[it] != null }
+        val detected = BooleanArray(6) { i -> i < dets.size && dets[i] != null }
+        return AlignSummary(ch3 = ch3, u4 = u(4), u5 = u(5), chN = chN, detected = detected)
+    }
+}
@@ -16,13 +16,17 @@ enum class DetectionMethod { METHOD_A, METHOD_B, METHOD_C }
 enum class PlacementGuideMode { SIMPLE, BOUNDARY, SWEEP }
 enum class BvMethod { FRUSTUM, V41 }

+/** Sensor alignment 알고리즘 — V1=기존 (computePlacementGuide), V2=신규 (alignment.py 포팅). */
+enum class AlignmentAlgo { V1, V2 }
+
 object GreenZoneConstants {

-    @Volatile var postMaxIdx: Int = 80   // 후벽 탐색 최대 sample index (이 이상 peak 무시)
+    @Volatile var postMaxIdx: Int = 80

    @Volatile var detectionMethod: DetectionMethod = DetectionMethod.METHOD_C
    @Volatile var bvMethod: BvMethod = BvMethod.V41
    @Volatile var placementGuideMode: PlacementGuideMode = PlacementGuideMode.SIMPLE
+    @Volatile var alignmentAlgo: AlignmentAlgo = AlignmentAlgo.V1   // dev 토글 — default V1 (legacy)

    // ═══════════════════════════════════════════════════════════
    // 신호 범위
@@ -518,7 +518,8 @@ fun ClinicalHomeView(appState: AppState) {
                            trueVolumeMl = trueVolText.toDoubleOrNull(),
                            abdomenThicknessMm = abdomenText.toDoubleOrNull(),
                            mode = com.example.medilightv2android.models.SessionMode.ALIGNMENT,
-                            alignmentAlgo = "V1",   // demo-final: V1 전용
+                            // 현재 dev 토글된 algo 그대로 — V1 (default) 또는 V2.
+                            alignmentAlgo = com.example.medilightv2android.managers.GreenZoneConstants.alignmentAlgo.name,
                        )
                    )
                    appState.enterAlignmentSession()
@@ -98,6 +98,8 @@ fun PlacementGuideView(appState: AppState) {
    var debounceCount by remember { mutableIntStateOf(0) }
    var lastGuidePhase by remember { mutableStateOf(PlacementPhase.VERTICAL) }
    var lastHintChangeMs by remember { mutableStateOf(0L) }
+    // V2 alignment (alignment.py 포팅) — dev 토글로 활성화.
+    val v2Aligner = remember { com.example.medilightv2android.managers.RollingAligner() }

    // SWEEP 모드용 sphere-fit state
    val rTracker = remember { com.example.medilightv2android.managers.BladderSeekRTracker() }
@@ -700,6 +702,44 @@ fun PlacementGuideView(appState: AppState) {
                        bleManager.debugLogger.warn("DETACHED mean=${"%.1f".format(detachResult.meanAbs)} std=${"%.1f".format(detachResult.stdVal)}")
                        Log.w("PlacementGuide", "DETACHED mean=${
                            "%.1f".format(detachResult.meanAbs)} std=${"%.1f".format(detachResult.stdVal)}")
+                    } else if (com.example.medilightv2android.managers.GreenZoneConstants.alignmentAlgo ==
+                              com.example.medilightv2android.managers.AlignmentAlgo.V2) {
+                        // ═══ V2 alignment (alignment.py 포팅, method_d 기반) ═══
+                        val raw6 = (0..5).map { ch ->
+                            val chData = channels.find { it.channel == ch }
+                            if (chData != null && chData.buffer.isNotEmpty())
+                                DoubleArray(chData.buffer.size) { i -> chData.buffer[i].toInt().toDouble() }
+                            else DoubleArray(100)
+                        }
+                        val st = v2Aligner.push(raw6)
+                        bleManager.debugLogger.info("ALIGN_V2 phase=${v2Aligner.phase} state=${st.state} action=${st.action} u4=${st.summary?.u4} u5=${st.summary?.u5} ch3=${st.summary?.ch3} bestSet=${v2Aligner.bestCenterSet}")
+                        if (st.state == "accum") {
+                            directionHint = st.msg
+                            directionIcon = ""
+                            placementScore = 5
+                        } else {
+                            directionHint = st.msg
+                            directionIcon = when (st.action) {
+                                com.example.medilightv2android.managers.AlignAction.MOVE_UP -> "arrow.up"
+                                com.example.medilightv2android.managers.AlignAction.MOVE_DOWN -> "arrow.down"
+                                com.example.medilightv2android.managers.AlignAction.MOVE_LEFT -> "arrow.left"
+                                com.example.medilightv2android.managers.AlignAction.MOVE_RIGHT -> "arrow.right"
+                                com.example.medilightv2android.managers.AlignAction.PROBE_LR -> "arrow.left"
+                                com.example.medilightv2android.managers.AlignAction.STOP -> "checkmark.circle"
+                                null -> ""
+                            }
+                            placementScore = if (st.action ==
+                                com.example.medilightv2android.managers.AlignAction.STOP) 100 else 40
+                            if (st.action == com.example.medilightv2android.managers.AlignAction.STOP) {
+                                if (!isLocked) greenLockedAtMs = System.currentTimeMillis()
+                                isLocked = true
+                                placementPhase = PlacementPhase.GREEN
+                                if (lastLedMode != 6) { bleManager.sendLedMode(6); lastLedMode = 6 }
+                            } else {
+                                isLocked = false
+                                if (lastLedMode != 5) { bleManager.sendLedMode(5); lastLedMode = 5 }
+                            }
+                        }
                    } else {
                        // Sphere-fit 계산 (SWEEP 모드에서 사용, 다른 모드에서는 무시됨)
                        val fitResult = com.example.medilightv2android.managers.BladderSphereSeek
@@ -850,12 +890,15 @@ fun PlacementGuideView(appState: AppState) {
                    if (clinSess != null) {
                        val rawADC = channels.sortedBy { it.channel }.map { it.buffer }
                        com.example.medilightv2android.services.AdcCsvLogger.log(rawADC, null)
-                        // Alignment session 진행 중이면 measurement.json 용 frame 누적 (V1 advisor 출력).
+                        // Alignment session 진행 중이면 measurement.json 용 frame 누적.
                        if (clinSess.mode == com.example.medilightv2android.models.SessionMode.ALIGNMENT) {
+                            val isV2 = com.example.medilightv2android.managers.GreenZoneConstants.alignmentAlgo ==
+                                com.example.medilightv2android.managers.AlignmentAlgo.V2
                            com.example.medilightv2android.services.ClinicalSessionStore.addAlignmentFrame(
                                piezo = channels,
                                imu = lastImuSamples,
-                                alignPhase = placementPhase.name,
+                                // V2 활성 시 4-stage phase 이름 (INITIAL_ACCUM 등), 그 외 V1 placementPhase
+                                alignPhase = if (isV2) v2Aligner.phase.name else placementPhase.name,
                                alignScore = placementScore,
                                alignDetected = (0 until 6).map { channelDetected[it] },
                                alignUrineLens = (0 until 6).map { channelUrineLen[it] },
@@ -1082,6 +1125,44 @@ fun PlacementGuideView(appState: AppState) {

                    HorizontalDivider()

+                    // Alignment 알고리즘 V1/V2
+                    var selectedAlgo by remember {
+                        mutableStateOf(com.example.medilightv2android.managers.GreenZoneConstants.alignmentAlgo)
+                    }
+                    Row(modifier = Modifier.fillMaxWidth(), verticalAlignment = Alignment.CenterVertically) {
+                        Text("Alignment", fontSize = 14.sp, fontWeight = FontWeight.SemiBold)
+                        Spacer(modifier = Modifier.weight(1f))
+                        val algoModes = listOf(
+                            com.example.medilightv2android.managers.AlignmentAlgo.V1 to "V1 (legacy)",
+                            com.example.medilightv2android.managers.AlignmentAlgo.V2 to "V2 (new)",
+                        )
+                        Row(horizontalArrangement = Arrangement.spacedBy(4.dp)) {
+                            algoModes.forEach { (algo, label) ->
+                                val sel = selectedAlgo == algo
+                                Button(
+                                    onClick = {
+                                        selectedAlgo = algo
+                                        com.example.medilightv2android.managers.GreenZoneConstants.alignmentAlgo = algo
+                                        if (algo == com.example.medilightv2android.managers.AlignmentAlgo.V2) {
+                                            v2Aligner.reset()
+                                        }
+                                    },
+                                    modifier = Modifier.height(32.dp),
+                                    shape = RoundedCornerShape(8.dp),
+                                    colors = ButtonDefaults.buttonColors(
+                                        containerColor = if (sel) Color(0xFF7C3AED) else Color.Gray.copy(alpha = 0.15f)
+                                    ),
+                                    contentPadding = PaddingValues(horizontal = 10.dp, vertical = 0.dp)
+                                ) {
+                                    Text(label, fontSize = 11.sp, fontWeight = FontWeight.Bold,
+                                        color = if (sel) Color.White else MlSecondaryText)
+                                }
+                            }
+                        }
+                    }
+
+                    HorizontalDivider()
+
                    // Otsu toggle
                    var otsuEnabled by remember { mutableStateOf(analyzer.useAdaptiveThreshold) }
                    Row(modifier = Modifier.fillMaxWidth(), verticalAlignment = Alignment.CenterVertically) {
@@ -0,0 +1,205 @@
+/*
+ * Method D detector — port of method_d/detector.py.
+ *
+ * 단일 채널 raw → ant/post wall index + subsample refine + diagnostics.
+ *
+ * Stage 1 : SG heavy / light denoise (호출부에서 미리 줘도 됨)
+ * Stage 2 : span (heavy primary, light fallback)
+ * Stage 3 : ant/post wall peak (find_wall_peak_local)
+ * Stage 3.5: wall-lumen ratio gate + 최대 2회 recovery (outward stronger peak 탐색)
+ * Stage 4 : TGC-FP gate (raw post ratio ≥ min_post_raw_ratio)
+ * Stage 5 : subsample refine (parabolic for peak / d2 fit for shoulder)
+ *
+ * 인터페이스는 WallDetector 와 무관 — alignment.py 가 channels[i].urine_len 만
+ * 필요로 하므로 가벼운 단일-함수 API 로 유지.
+ */
+package com.example.medilightv2android.walldetect
+
+import com.example.medilightv2android.walldetect.algo.methodd.MethodDParams
+import com.example.medilightv2android.walldetect.algo.methodd.MethodDPreprocessing
+import com.example.medilightv2android.walldetect.algo.methodd.MethodDSpan
+import com.example.medilightv2android.walldetect.algo.methodd.MethodDWallSelect
+import com.example.medilightv2android.walldetect.algo.methodd.MethodDWallSelect.CType
+import com.example.medilightv2android.walldetect.algo.methodd.MethodDWallSelect.Side
+import kotlin.math.max
+
+data class MethodDResult(
+    val ant: Int,
+    val post: Int,
+    val antRefined: Double,
+    val postRefined: Double,
+    val lowStart: Int,
+    val lowEnd: Int,
+    val lowAmp: Double,
+    val inwardWalkAnt: Int,
+    val inwardWalkPost: Int,
+    val urineLen: Int,
+    val antProm: Double,
+    val postProm: Double,
+    val antType: CType,
+    val postType: CType,
+    val sgHeavy: DoubleArray,
+    val sgLight: DoubleArray,
+)
+
+object MethodDDetector {
+
+    private fun wallGateOk(antAmp: Double, postAmp: Double, lumenMin: Double, p: MethodDParams): Boolean {
+        val wallAmp = if (p.wallRatioUsePostOnly) postAmp else kotlin.math.min(antAmp, postAmp)
+        return wallAmp / max(lumenMin, 1.0) >= p.minWallLumenRatio
+    }
+
+    fun detect(
+        raw: DoubleArray,
+        denoisedHeavy: DoubleArray? = null,
+        denoisedLight: DoubleArray? = null,
+        otsuRatioOverride: Double? = null,
+        params: MethodDParams = MethodDParams.DEFAULT,
+    ): MethodDResult? {
+        val sgHeavy = denoisedHeavy ?: MethodDPreprocessing.preprocessHeavy(raw, params)
+        val sgLight = denoisedLight ?: MethodDPreprocessing.preprocessLight(raw)
+        val ratio = otsuRatioOverride ?: params.otsuRatio
+
+        // Stage 2: span
+        val spanRes = MethodDSpan.extractLowEchoSpanWithFallback(sgHeavy, sgLight, ratio, params)
+            ?: return null
+        val lowStart = spanRes.lowStart
+        val lowEnd = spanRes.lowEnd
+        val lowAmp = spanRes.lowAmp
+        val inwardAnt = spanRes.inwardWalkAnt
+        val inwardPost = spanRes.inwardWalkPost
+
+        // lumen_min — Stage 3.5 wall_lumen_ratio gate 에서 사용
+        var lumenMin = Double.POSITIVE_INFINITY
+        for (i in lowStart..lowEnd) if (sgHeavy[i] < lumenMin) lumenMin = sgHeavy[i]
+        if (!lumenMin.isFinite()) lumenMin = 1.0
+
+        // Stage 3: ant + post peak
+        val antRes = MethodDWallSelect.findWallPeakLocal(
+            sgLight, lowStart, lowEnd, Side.ANT, params,
+            dMaxOverride = params.antDMax, inwardWalk = inwardAnt,
+        )
+        val postRes = MethodDWallSelect.findWallPeakLocal(
+            sgLight, lowStart, lowEnd, Side.POST, params,
+            dMaxOverride = params.dMax, inwardWalk = inwardPost,
+        )
+        if (antRes.best == null || postRes.best == null) return null
+
+        var antIdx = antRes.best.idx
+        var antProm = antRes.best.prom
+        var antType = antRes.best.type
+        var postIdx = postRes.best.idx
+        var postProm = postRes.best.prom
+        var postType = postRes.best.type
+
+        if (postIdx <= antIdx) return null
+        var urineLen = postIdx - antIdx - 1
+        if (urineLen < params.minUrineLen) return null
+
+        var antAmp = sgLight[antIdx]
+        var postAmp = sgLight[postIdx]
+
+        // Stage 3.5: recovery (최대 2회, 각 side 1회씩)
+        repeat(2) {
+            if (wallGateOk(antAmp, postAmp, lumenMin, params)) return@repeat
+            val side: Side
+            val curIdx: Int
+            val curAmp: Double
+            val otherAmp: Double
+            val walkKw: Int
+            val extDMax: Int
+            if (postAmp <= antAmp) {
+                side = Side.POST
+                curIdx = postIdx
+                curAmp = postAmp
+                otherAmp = antAmp
+                walkKw = inwardPost
+                extDMax = if (params.recoveryExtendOutward)
+                    max(params.dMax, params.postMaxIdx - lowEnd) else params.dMax
+            } else {
+                side = Side.ANT
+                curIdx = antIdx
+                curAmp = antAmp
+                otherAmp = postAmp
+                walkKw = inwardAnt
+                extDMax = if (params.recoveryExtendOutward)
+                    max(params.antDMax, lowStart) else params.antDMax
+            }
+            val ext = MethodDWallSelect.findWallPeakLocal(
+                sgLight, lowStart, lowEnd, side, params,
+                dMaxOverride = extDMax, inwardWalk = walkKw,
+            )
+
+            // outward stronger peak 만 후보. closest 우선 (post=오름차순/ant=내림차순).
+            val sorted = if (side == Side.POST) ext.candidates.sortedBy { it.idx }
+                         else ext.candidates.sortedByDescending { it.idx }
+            var passing: MethodDWallSelect.Candidate? = null   // ratio 통과시키는 closest
+            var fallback: MethodDWallSelect.Candidate? = null  // 통과 못해도 stronger 한 첫 후보
+            for (c in sorted) {
+                val outward = if (side == Side.POST) c.idx > curIdx else c.idx < curIdx
+                if (!outward) continue
+                val cAmp = sgLight[c.idx]
+                if (cAmp <= curAmp) continue
+                if (fallback == null) fallback = c
+                val minAmp = kotlin.math.min(cAmp, otherAmp)
+                if (minAmp / max(lumenMin, 1.0) >= params.minWallLumenRatio) {
+                    passing = c
+                    break
+                }
+            }
+            val recovered = passing ?: fallback ?: return null
+            if (side == Side.POST) {
+                postIdx = recovered.idx
+                postProm = recovered.prom
+                postType = recovered.type
+                postAmp = sgLight[postIdx]
+            } else {
+                antIdx = recovered.idx
+                antProm = recovered.prom
+                antType = recovered.type
+                antAmp = sgLight[antIdx]
+            }
+        }
+
+        if (!wallGateOk(antAmp, postAmp, lumenMin, params)) return null
+
+        // Stage 4: TGC-FP gate — raw post / raw lumen_min ≥ min_post_raw_ratio
+        val rawHeavy = MethodDPreprocessing.preprocessHeavy(raw, params)
+        val rawLight = MethodDPreprocessing.preprocessLight(raw)
+        var rawLumenMin = Double.POSITIVE_INFINITY
+        for (i in lowStart..lowEnd) if (rawHeavy[i] < rawLumenMin) rawLumenMin = rawHeavy[i]
+        if (!rawLumenMin.isFinite()) rawLumenMin = 1.0
+        val rawPostRatio = rawLight[postIdx] / max(rawLumenMin, 1.0)
+        if (rawPostRatio < params.minPostRawRatio) return null
+
+        urineLen = postIdx - antIdx - 1
+        if (urineLen < params.minUrineLen) return null
+
+        // Stage 5: subsample refine
+        val antRefined = if (antType == CType.PEAK)
+            MethodDWallSelect.refineParabolic(sgLight, antIdx, true)
+            else MethodDWallSelect.refineShoulder(sgLight, antIdx)
+        val postRefined = if (postType == CType.PEAK)
+            MethodDWallSelect.refineParabolic(sgLight, postIdx, true)
+            else MethodDWallSelect.refineShoulder(sgLight, postIdx)
+
+        return MethodDResult(
+            ant = antIdx,
+            post = postIdx,
+            antRefined = antRefined,
+            postRefined = postRefined,
+            lowStart = lowStart,
+            lowEnd = lowEnd,
+            lowAmp = lowAmp,
+            inwardWalkAnt = inwardAnt,
+            inwardWalkPost = inwardPost,
+            urineLen = urineLen,
+            antProm = antProm,
+            postProm = postProm,
+            antType = antType,
+            postType = postType,
+            sgHeavy = sgHeavy,
+            sgLight = sgLight,
+        )
+    }
+}
@@ -0,0 +1,57 @@
+/*
+ * Method D multichannel runner — port of library/runners.py method_d().
+ *
+ * 입력: List<DoubleArray> (6채널 raw ADC, 길이 100 가정)
+ * 처리 (Python 1:1):
+ *   1) heavy = SG(7,3) + oscfar_median(win=5, iter=4)
+ *      light = SG(7,3)
+ *   2) apply_tgc_pipeline(heavy / light) — center_ch=None → all channels
+ *   3) 채널별 otsu_ratio × cos(beam_angle)  ← PiezoHW.degreeAll
+ *   4) MethodDDetector.detect()
+ *
+ * TGC 는 default ON (Python 과 동일). `applyTgc=false` 로 비활성화 가능.
+ *
+ * 출력 컨트랙트: alignment.py 가 `dets[i].urine_len` 만 의존 →
+ * MethodDResult.urineLen 또는 null 의 List 로 충분.
+ */
+package com.example.medilightv2android.walldetect
+
+import com.example.medilightv2android.managers.PiezoHW
+import com.example.medilightv2android.walldetect.algo.methodd.MethodDParams
+import com.example.medilightv2android.walldetect.algo.methodd.MethodDPreprocessing
+import com.example.medilightv2android.walldetect.algo.methodd.MethodDTgc
+import kotlin.math.cos
+
+object MethodDRunner {
+
+    /**
+     * 6채널 (또는 N채널) raw 신호 → 채널별 MethodDResult? 리스트.
+     * raw[ch] 길이가 다르면 그대로 처리 (각 채널 독립).
+     */
+    fun detectMultichannel(
+        signals: List<DoubleArray>,
+        params: MethodDParams = MethodDParams.DEFAULT,
+        beamAnglesDeg: DoubleArray? = null,
+        applyTgc: Boolean = true,
+    ): List<MethodDResult?> {
+        val angles = beamAnglesDeg ?: PiezoHW.degreeAll
+        // 1) per-channel SG denoise (heavy + light)
+        val heavyList = signals.map { MethodDPreprocessing.preprocessHeavy(it, params) }
+        val lightList = signals.map { MethodDPreprocessing.preprocessLight(it) }
+        // 2) TGC per channel (Python apply_tgc_pipeline default center_ch=None → all)
+        val heavyTgc = if (applyTgc) MethodDTgc.applyTgcPipeline(heavyList) else heavyList
+        val lightTgc = if (applyTgc) MethodDTgc.applyTgcPipeline(lightList) else lightList
+        // 3+4) per-channel cos-angle adjusted otsu_ratio + detect
+        return List(signals.size) { ch ->
+            val angleDeg = if (ch < angles.size) angles[ch] else 0.0
+            val chRatio = params.otsuRatio * cos(Math.toRadians(angleDeg))
+            MethodDDetector.detect(
+                raw = signals[ch],
+                denoisedHeavy = heavyTgc[ch],
+                denoisedLight = lightTgc[ch],
+                otsuRatioOverride = chRatio,
+                params = params,
+            )
+        }
+    }
+}
@@ -11,6 +11,61 @@ package com.example.medilightv2android.walldetect.algo

 object Otsu {

+    /** Otsu threshold + separability — Python `otsu_1d(values)` 의 (threshold, sep) tuple 호환. */
+    data class OtsuResult(val threshold: Double, val separability: Double)
+
+    fun otsu1dWithSeparability(values: DoubleArray, nBins: Int = 64): OtsuResult {
+        if (values.isEmpty()) return OtsuResult(0.0, 0.0)
+        var lo = Double.POSITIVE_INFINITY
+        var hi = Double.NEGATIVE_INFINITY
+        var sum = 0.0
+        for (v in values) {
+            if (v < lo) lo = v
+            if (v > hi) hi = v
+            sum += v
+        }
+        if (values.size == 1 || lo == hi) return OtsuResult(sum / values.size, 0.0)
+        val hist = IntArray(nBins)
+        val width = (hi - lo) / nBins
+        for (v in values) {
+            var b = ((v - lo) / width).toInt()
+            if (b >= nBins) b = nBins - 1
+            if (b < 0) b = 0
+            hist[b]++
+        }
+        val total = values.size
+        val centers = DoubleArray(nBins) { lo + (it + 0.5) * width }
+        val p = DoubleArray(nBins) { hist[it].toDouble() / total }
+        var muT = 0.0
+        for (i in 0 until nBins) muT += p[i] * centers[i]
+        var sigmaT = 0.0
+        for (i in 0 until nBins) {
+            val d = centers[i] - muT
+            sigmaT += p[i] * d * d
+        }
+        if (sigmaT <= 1e-12) return OtsuResult(muT, 0.0)
+        var cumP = 0.0
+        var cumMP = 0.0
+        var bestT = 0
+        var bestSigmaB = Double.NEGATIVE_INFINITY
+        for (t in 0 until nBins - 1) {
+            cumP += p[t]
+            cumMP += p[t] * centers[t]
+            val w0 = cumP
+            val w1 = 1.0 - w0
+            if (w0 <= 1e-6 || w1 <= 1e-6) continue
+            val m0 = cumMP / w0
+            val m1 = (muT - cumMP) / w1
+            val sigmaB = w0 * w1 * (m0 - m1) * (m0 - m1)
+            if (sigmaB > bestSigmaB) {
+                bestSigmaB = sigmaB
+                bestT = t
+            }
+        }
+        val sep = (bestSigmaB / sigmaT).coerceIn(0.0, 1.0)
+        return OtsuResult(centers[bestT], sep)
+    }
+
    /**
     * 1-D Otsu threshold over `values`. Returns 0.0 for empty input,
     * `values.mean()` for single-value or constant input. n_bins default 64
@@ -0,0 +1,147 @@
+/*
+ * Generic Savitzky-Golay smoother — port of vesiscan_test/library/denoising.py:sg_smooth.
+ *
+ * 임의 (window, polyorder) 에 대해 Python 1:1 동작:
+ *   1) 내부 m..n-m: pinv(Vandermonde)[0] 커널로 컨볼루션
+ *   2) 왼쪽 edge 0..m-1: 첫 window 샘플에 polynomial fit → t=i-m 위치 평가
+ *   3) 오른쪽 edge n-m..n-1: 마지막 window 샘플에 polynomial fit → t=i-(n-m-1) 위치 평가
+ *   4) n < window: 전체 신호 단일 polynomial fit
+ *
+ * config_6ch.py: SG_WIN=7, SG_POLY=3  ← method_d 기준
+ * (V4.1 detector 는 별도 (5,2) 하드코딩 커널 사용 — walldetect/algo/Denoising.kt)
+ *
+ * 수치 검증:
+ *   (7,3) 내부 커널 = [-2, 3, 6, 7, 6, 3, -2] / 21 (표준 SG 7-3 좌표)
+ */
+package com.example.medilightv2android.walldetect.algo
+
+import kotlin.math.abs
+
+object SgSmoothGeneric {
+
+    /**
+     * SG smooth signal `x` with given (window, polyorder).
+     * window 은 odd, polyorder < window 이어야 함.
+     */
+    fun smooth(x: DoubleArray, window: Int, polyorder: Int): DoubleArray {
+        require(window % 2 == 1) { "window must be odd, got $window" }
+        require(polyorder < window) { "polyorder($polyorder) must be < window($window)" }
+        val n = x.size
+        val m = (window - 1) / 2
+
+        if (n < window) {
+            // 짧은 신호: 전체 구간 단일 polynomial fit
+            val xs = DoubleArray(n) { it - (n - 1) / 2.0 }
+            val coef = polyfit(xs, x, polyorder)
+            return DoubleArray(n) { i -> evalPoly(coef, xs[i]) }
+        }
+
+        val xsInner = DoubleArray(window) { it - m.toDouble() }
+        // 내부 커널 = pinv(A)[0, :] — 다항식 c0 (상수항) 의 LS 계수
+        val kernel = innerKernel(xsInner, polyorder)
+        val out = DoubleArray(n)
+        for (i in m until n - m) {
+            var s = 0.0
+            for (k in 0 until window) s += kernel[k] * x[i - m + k]
+            out[i] = s
+        }
+
+        // 왼쪽 edge: 첫 window 샘플 polynomial fit
+        val leftCoef = polyfit(xsInner, sliceArray(x, 0, window), polyorder)
+        for (i in 0 until m) {
+            val t = (i - m).toDouble()       // block center(index m) 기준 상대좌표
+            out[i] = evalPoly(leftCoef, t)
+        }
+        // 오른쪽 edge: 마지막 window 샘플 polynomial fit
+        val rightCoef = polyfit(xsInner, sliceArray(x, n - window, n), polyorder)
+        for (i in n - m until n) {
+            val t = (i - (n - m - 1)).toDouble()   // block center(index n-m-1) 기준 상대좌표
+            out[i] = evalPoly(rightCoef, t)
+        }
+        return out
+    }
+
+    private fun sliceArray(x: DoubleArray, from: Int, to: Int): DoubleArray =
+        DoubleArray(to - from) { x[from + it] }
+
+    private fun evalPoly(coef: DoubleArray, t: Double): Double {
+        var v = 0.0
+        var tk = 1.0
+        for (k in coef.indices) {
+            v += coef[k] * tk
+            tk *= t
+        }
+        return v
+    }
+
+    /** xs (length=window) 에 y (length=window) polynomial-fit → coefs [c0, c1, ..., c_p]. */
+    private fun polyfit(xs: DoubleArray, ys: DoubleArray, polyorder: Int): DoubleArray {
+        val p = polyorder + 1
+        val n = xs.size
+        val ata = Array(p) { DoubleArray(p) }
+        val aty = DoubleArray(p)
+        for (i in 0 until n) {
+            val powers = DoubleArray(p)
+            powers[0] = 1.0
+            for (k in 1 until p) powers[k] = powers[k - 1] * xs[i]
+            for (j in 0 until p) {
+                aty[j] += powers[j] * ys[i]
+                for (k in 0 until p) ata[j][k] += powers[j] * powers[k]
+            }
+        }
+        return solveLinearSystem(ata, aty)
+    }
+
+    /** 내부 SG 커널: pinv(A)[0, :] — c0 의 LS 계수. y → c0 = Σ kernel[i]·y[i]. */
+    private fun innerKernel(xs: DoubleArray, polyorder: Int): DoubleArray {
+        val p = polyorder + 1
+        val n = xs.size
+        val ata = Array(p) { DoubleArray(p) }
+        for (i in 0 until n) {
+            val powers = DoubleArray(p)
+            powers[0] = 1.0
+            for (k in 1 until p) powers[k] = powers[k - 1] * xs[i]
+            for (j in 0 until p) for (k in 0 until p) ata[j][k] += powers[j] * powers[k]
+        }
+        val e0 = DoubleArray(p)
+        e0[0] = 1.0
+        val nInvCol0 = solveLinearSystem(ata, e0)   // N^-1 [:, 0] = 대칭으로 row 0 동등
+        val kernel = DoubleArray(n)
+        for (i in 0 until n) {
+            var xik = 1.0
+            for (k in 0 until p) {
+                kernel[i] += nInvCol0[k] * xik
+                xik *= xs[i]
+            }
+        }
+        return kernel
+    }
+
+    /** Gaussian elimination with partial pivoting — 소형 PSD 정상 매트릭스용. */
+    private fun solveLinearSystem(a: Array<DoubleArray>, b: DoubleArray): DoubleArray {
+        val n = b.size
+        val m = Array(n) { DoubleArray(n + 1) }
+        for (i in 0 until n) {
+            for (j in 0 until n) m[i][j] = a[i][j]
+            m[i][n] = b[i]
+        }
+        for (i in 0 until n) {
+            var pivot = i
+            for (k in i + 1 until n) if (abs(m[k][i]) > abs(m[pivot][i])) pivot = k
+            if (pivot != i) { val t = m[i]; m[i] = m[pivot]; m[pivot] = t }
+            val piv = m[i][i]
+            require(abs(piv) >= 1e-12) { "singular matrix at row $i" }
+            for (k in i + 1 until n) {
+                val f = m[k][i] / piv
+                for (j in i..n) m[k][j] -= f * m[i][j]
+            }
+        }
+        val x = DoubleArray(n)
+        for (i in n - 1 downTo 0) {
+            var s = m[i][n]
+            for (j in i + 1 until n) s -= m[i][j] * x[j]
+            x[i] = s / m[i][i]
+        }
+        return x
+    }
+}
@@ -0,0 +1,39 @@
+/*
+ * Method D config — port of vesiscan_test/library/method_d/config_d.py.
+ *
+ * 모든 디폴트값을 python 과 동일하게 유지. 튜닝 근거 주석은 원본 참조.
+ * 각도 보정(otsu_ratio × cos(angle))은 호출부(MethodDRunner)에서 곱함.
+ */
+package com.example.medilightv2android.walldetect.algo.methodd
+
+data class MethodDParams(
+    val otsuRatio: Double = 0.88,
+    val lowMinLen: Int = 3,
+    val mergeGapMax: Int = 3,
+    val dMax: Int = 10,
+    val antDMax: Int = 18,
+    val postMaxIdx: Int = 100,
+    val minUrineLen: Int = 10,
+    val distDecay: Double = 0.1,
+    val promGamma: Double = 1.5,
+    val shoulderDistDecay: Double = 0.3,
+    val shoulderPromGamma: Double = 1.0,
+    val minShoulderProm: Double = 100.0,
+    val minPeakProm: Double = 50.0,
+    val shoulderScoreHandicap: Double = 0.15,
+    val gapPeakMinProm: Double = 50.0,
+    val minWallLumenRatio: Double = 1.16,
+    val minPostRawRatio: Double = 1.08,
+    val inwardWalkWin: Int = 3,
+    val inwardWalkSlopeTol: Double = 10.0,
+    val oscfarWin: Int = 5,
+    val oscfarMaxIters: Int = 4,
+    val minLightSeparability: Double = 0.75,
+    val minSpanLen: Int = 5,
+    val recoveryExtendOutward: Boolean = false,
+    val wallRatioUsePostOnly: Boolean = true,
+) {
+    companion object {
+        val DEFAULT = MethodDParams()
+    }
+}
@@ -0,0 +1,26 @@
+/*
+ * Method D preprocessing — port of method_d/preprocessing.py.
+ *
+ *   heavy = SG (7,3) + OS-CFAR iterative median   (span 검출용; ringing/speckle 흡수)
+ *   light = SG (7,3) only                          (wall peak / subsample refine 용)
+ *
+ * Python config_6ch.SG_WIN=7, SG_POLY=3 — V4.1 의 (5,2) 하드코딩 커널과 분리.
+ * 일반화된 SgSmoothGeneric 으로 호출 (any window, polyorder 지원).
+ */
+package com.example.medilightv2android.walldetect.algo.methodd
+
+import com.example.medilightv2android.walldetect.algo.MedianFilter
+import com.example.medilightv2android.walldetect.algo.SgSmoothGeneric
+
+object MethodDPreprocessing {
+    const val SG_WIN = 7    // config_6ch.SG_WIN
+    const val SG_POLY = 3   // config_6ch.SG_POLY
+
+    fun preprocessHeavy(raw: DoubleArray, params: MethodDParams = MethodDParams.DEFAULT): DoubleArray {
+        val sg = SgSmoothGeneric.smooth(raw, SG_WIN, SG_POLY)
+        return MedianFilter.runningMedianRoot(sg, params.oscfarWin, params.oscfarMaxIters)
+    }
+
+    fun preprocessLight(raw: DoubleArray): DoubleArray =
+        SgSmoothGeneric.smooth(raw, SG_WIN, SG_POLY)
+}
@@ -0,0 +1,107 @@
+/*
+ * Method D span detection — port of method_d/span.py.
+ *
+ *  extract_low_echo_span:
+ *    1) Otsu threshold × ratio = low_amp
+ *    2) low_mask = sg ≤ low_amp → contiguous spans (len ≥ low_min_len)
+ *    3) merge_close_spans (gap_peak_min_prom 가드)
+ *    4) 첫 candidate (sig_end 제외, len ≥ min_span_len) 채택
+ *    5) post 후위 검색 상한(post_max_idx) 초과 시 reject
+ *    6) walk_inward_to_valley 로 양쪽 valley plateau 시작점까지 shrink
+ *    7) walk 결과가 min_span_len 미만이면 reject
+ *
+ *  extract_low_echo_span_with_fallback:
+ *    heavy primary; heavy 가 fail 하거나 끝까지 흐르면 light 로 재시도.
+ *    light 의 Otsu separability < min_light_separability 이면 fallback 거부.
+ */
+package com.example.medilightv2android.walldetect.algo.methodd
+
+import com.example.medilightv2android.walldetect.algo.Otsu
+import com.example.medilightv2android.walldetect.algo.SpanUtils
+
+object MethodDSpan {
+
+    data class SpanResult(
+        val lowStart: Int,
+        val lowEnd: Int,
+        val lowAmp: Double,
+        val inwardWalkAnt: Int,
+        val inwardWalkPost: Int,
+    )
+
+    private fun walkInwardToValley(
+        sg: DoubleArray, spanS: Int, spanE: Int,
+        win: Int, slopeTol: Double,
+    ): IntArray {
+        var s = spanS
+        var e = spanE
+        val threshold = slopeTol * win
+        while (s + win <= e && (sg[s] - sg[s + win]) >= threshold) s++
+        while (e - win >= s && (sg[e] - sg[e - win]) >= threshold) e--
+        return intArrayOf(s, e)
+    }
+
+    fun extractLowEchoSpan(
+        sg: DoubleArray,
+        otsuRatio: Double,
+        params: MethodDParams = MethodDParams.DEFAULT,
+    ): SpanResult? {
+        val otsuRes = Otsu.otsu1dWithSeparability(sg)
+        val lowAmp = otsuRes.threshold * otsuRatio
+
+        val mask = BooleanArray(sg.size) { sg[it] <= lowAmp }
+        val rawSpans = SpanUtils.contiguousTrueSpans(mask)
+            .filter { (it.end - it.start + 1) >= params.lowMinLen }
+        val spans = SpanUtils.mergeCloseSpans(
+            rawSpans,
+            maxGap = params.mergeGapMax,
+            sg = sg,
+            gapPeakThr = lowAmp + params.gapPeakMinProm,
+        )
+        if (spans.isEmpty()) return null
+
+        // 앞쪽 span 부터 순회: sig_end 제외 + 길이 ≥ min_span_len 인 첫 span.
+        val sigEnd = sg.size - 1
+        var pickStart = -1
+        var pickEnd = -1
+        for (span in spans) {
+            if (span.end >= sigEnd) continue
+            if ((span.end - span.start + 1) < params.minSpanLen) continue
+            pickStart = span.start
+            pickEnd = span.end
+            break
+        }
+        if (pickStart < 0) return null
+        if (pickEnd >= params.postMaxIdx) return null
+
+        val walked = walkInwardToValley(
+            sg, pickStart, pickEnd,
+            params.inwardWalkWin, params.inwardWalkSlopeTol,
+        )
+        val s = walked[0]
+        val e = walked[1]
+        if ((e - s + 1) < params.minSpanLen) return null
+
+        return SpanResult(
+            lowStart = s,
+            lowEnd = e,
+            lowAmp = lowAmp,
+            inwardWalkAnt = s - pickStart,
+            inwardWalkPost = pickEnd - e,
+        )
+    }
+
+    fun extractLowEchoSpanWithFallback(
+        sgHeavy: DoubleArray,
+        sgLight: DoubleArray,
+        otsuRatio: Double,
+        params: MethodDParams = MethodDParams.DEFAULT,
+    ): SpanResult? {
+        val primary = extractLowEchoSpan(sgHeavy, otsuRatio, params)
+        if (primary != null && primary.lowEnd < sgHeavy.size - 1) return primary
+        // Light fallback — unimodal 신호 차단.
+        val sep = Otsu.otsu1dWithSeparability(sgLight).separability
+        if (sep < params.minLightSeparability) return null
+        return extractLowEchoSpan(sgLight, otsuRatio, params)
+    }
+}
@@ -0,0 +1,87 @@
+/*
+ * TGC (Time Gain Compensation) — port of denoising.py:apply_tgc_pipeline.
+ *
+ * 깊이가 깊을수록 음향 신호가 감쇠하는 현상을 보정:
+ *   1) fit_attenuation_lines: per-channel linear LS fit (slope, intercept) on x=[0..N-1]
+ *   2) adaptive_tgc_ratio(slope, slope_thresh=3.0, slope_max=15.0, ratio_min=0.1):
+ *        |slope| < 3.0 → ratio=1.0 (보정 없음, 가파르지 않은 채널)
+ *        else ratio = 1.0 - (1-ratio_min) * (|slope|-slope_thresh) / (slope_max-slope_thresh)
+ *        clipped to [ratio_min, 1.0]
+ *   3) target_slope = slope * ratio
+ *   4) compensation = (target_slope - slope) * x
+ *   5) compensated = original + compensation
+ *
+ * slope > 0 (양수, 깊을수록 밝아짐) 인 채널은 보정 스킵 — 비정상 케이스.
+ *
+ * 입력은 (n_ch, n_samples) 단일 scan. method_d 가 heavy/light 각각에 호출.
+ */
+package com.example.medilightv2android.walldetect.algo.methodd
+
+import kotlin.math.abs
+
+object MethodDTgc {
+
+    /** Linear LS fit y = a + b*x on x=[0..n-1] → (slope=b, intercept=a). numpy.polyfit(x,y,1). */
+    fun fitAttenuationLine(y: DoubleArray): Pair<Double, Double> {
+        val n = y.size
+        if (n < 2) return 0.0 to (if (n == 1) y[0] else 0.0)
+        // x = 0..n-1
+        val sumX = (n - 1).toDouble() * n / 2.0           // Σx
+        val sumX2 = (n - 1).toDouble() * n * (2 * n - 1) / 6.0   // Σx²
+        var sumY = 0.0
+        var sumXY = 0.0
+        for (i in 0 until n) {
+            sumY += y[i]
+            sumXY += i * y[i]
+        }
+        val meanX = sumX / n
+        val meanY = sumY / n
+        val varX = sumX2 - n * meanX * meanX
+        val covXY = sumXY - n * meanX * meanY
+        val slope = if (abs(varX) < 1e-12) 0.0 else covXY / varX
+        val intercept = meanY - slope * meanX
+        return slope to intercept
+    }
+
+    /** adaptive_tgc_ratio(slope) — Python 그대로. slope_thresh=3.0, slope_max=15.0, ratio_min=0.1. */
+    fun adaptiveTgcRatio(
+        slope: Double,
+        slopeThresh: Double = 3.0,
+        slopeMax: Double = 15.0,
+        ratioMin: Double = 0.1,
+    ): Double {
+        val absSlope = abs(slope)
+        if (absSlope < slopeThresh) return 1.0
+        val ratio = 1.0 - (1.0 - ratioMin) * (absSlope - slopeThresh) / (slopeMax - slopeThresh)
+        return maxOf(ratio, ratioMin)
+    }
+
+    /**
+     * Apply TGC to a single scan (n_ch × n_samples). 채널별 slope 계산 → ratio →
+     * compensation = (target_slope - slope) * x 가산. slope > 0 인 채널은 skip.
+     *
+     * Python apply_tgc_pipeline(df, n_ch, center_ch=None) with center_ch=None
+     * defaults to all channels — 우리는 입력 list 전체에 적용.
+     *
+     * @param channels  (n_ch) 길이의 (n_samples) DoubleArray
+     * @param ratioMin  Python default 0.1. 1차 비교에선 그대로.
+     * @param targetRatio override (Python `target_ratio` param). null 이면 adaptive.
+     */
+    fun applyTgcPipeline(
+        channels: List<DoubleArray>,
+        ratioMin: Double = 0.1,
+        targetRatio: Double? = null,
+    ): List<DoubleArray> {
+        if (channels.isEmpty()) return channels
+        return channels.map { row ->
+            val (slope, _) = fitAttenuationLine(row)
+            if (slope >= 0.0) return@map row.copyOf()
+            val ratio = targetRatio ?: adaptiveTgcRatio(slope, ratioMin = ratioMin)
+            val targetSlope = slope * ratio
+            val delta = targetSlope - slope    // 음수 slope → 음수 ratio 곱하면 더 작은 음수,
+                                              // delta = targetSlope - slope > 0 → 깊이 갈수록 보정+
+            val out = DoubleArray(row.size) { i -> row[i] + delta * i }
+            out
+        }
+    }
+}
@@ -0,0 +1,167 @@
+/*
+ * Method D wall selection — port of method_d/wall_select.py.
+ *
+ * span edge 근방 d_max 안에서 두 종류 후보를 수집:
+ *   1) local maxima (PeakDetection.findPeaks1D) → type='peak'
+ *   2) d2 local-min 이면서 음수 (어깨)         → type='shoulder'
+ *      ±1 sample 이내 peak 와 중복이면 제거.
+ *
+ * 스코어링:
+ *   score = prom^gamma / (1 + dist_decay × dist)
+ *   prom  = sig[peak] - sig[adjacent_valley]   (valley = peak ↔ edge 사이 최소점)
+ *   dist  = |peak - edge|
+ *
+ * shoulder 는 prom_gate(min_shoulder_prom) 더 strict,
+ * score 에 (1+shoulder_score_handicap) deadband 페널티 → peak 와 동률 토글 차단.
+ */
+package com.example.medilightv2android.walldetect.algo.methodd
+
+import com.example.medilightv2android.walldetect.algo.PeakDetection
+import kotlin.math.abs
+import kotlin.math.pow
+
+object MethodDWallSelect {
+
+    enum class Side { ANT, POST }
+    enum class CType { PEAK, SHOULDER }
+
+    data class Candidate(
+        val idx: Int,
+        val prom: Double,
+        val dist: Int,
+        val valleyIdx: Int,
+        val score: Double,
+        val type: CType,
+    )
+
+    data class WallResult(
+        val best: Candidate?,
+        val candidates: List<Candidate>,
+    )
+
+    private fun adjacentValley(sig: DoubleArray, peakIdx: Int, edgeIdx: Int): Int {
+        val step = if (edgeIdx > peakIdx) 1 else -1
+        var i = peakIdx
+        while (true) {
+            val nxt = i + step
+            if ((step > 0 && nxt > edgeIdx) || (step < 0 && nxt < edgeIdx)) return edgeIdx
+            if (sig[nxt] <= sig[i]) i = nxt
+            else return i
+        }
+    }
+
+    private fun findShouldersLocal(sub: DoubleArray): IntArray {
+        if (sub.size < 5) return IntArray(0)
+        val n = sub.size
+        val d2 = DoubleArray(n - 2) { i -> sub[i] - 2 * sub[i + 1] + sub[i + 2] }
+        val out = mutableListOf<Int>()
+        for (i in 1 until d2.size - 1) {
+            if (d2[i] < 0 && d2[i] < d2[i - 1] && d2[i] < d2[i + 1]) {
+                out += i + 1   // d2 index → sub index (+1 from central-diff offset)
+            }
+        }
+        return out.toIntArray()
+    }
+
+    fun findWallPeakLocal(
+        sig: DoubleArray,
+        spanS: Int,
+        spanE: Int,
+        side: Side,
+        params: MethodDParams = MethodDParams.DEFAULT,
+        dMaxOverride: Int? = null,
+        inwardWalk: Int = 0,
+    ): WallResult {
+        val n = sig.size
+        val baseDMax = dMaxOverride ?: when (side) {
+            Side.ANT -> params.antDMax
+            Side.POST -> params.dMax
+        }
+        val effectiveDMax = baseDMax + inwardWalk
+
+        val edge: Int
+        val lo: Int
+        val hi: Int
+        when (side) {
+            Side.ANT -> {
+                edge = spanS
+                lo = (edge - effectiveDMax).coerceAtLeast(0)
+                hi = edge
+            }
+            Side.POST -> {
+                edge = spanE
+                lo = edge
+                hi = minOf(n - 1, edge + effectiveDMax, params.postMaxIdx)
+            }
+        }
+        if (hi <= lo) return WallResult(null, emptyList())
+
+        val sub = DoubleArray(hi - lo + 1) { sig[lo + it] }
+        val relPeaks = PeakDetection.findPeaks1D(sub, 0, sub.size)
+        val relShoulders = findShouldersLocal(sub)
+
+        val candIdxType = mutableListOf<Pair<Int, CType>>()
+        for (p in relPeaks) candIdxType += Pair(lo + p, CType.PEAK)
+        for (s in relShoulders) {
+            val idx = lo + s
+            if (candIdxType.any { it.second == CType.PEAK && abs(it.first - idx) <= 1 }) continue
+            candIdxType += Pair(idx, CType.SHOULDER)
+        }
+
+        val scored = mutableListOf<Candidate>()
+        for ((p, ctype) in candIdxType) {
+            val vIdx = adjacentValley(sig, p, edge)
+            val prom = sig[p] - sig[vIdx]
+            val gate = if (ctype == CType.PEAK) params.minPeakProm else params.minShoulderProm
+            if (prom <= 0 || prom < gate) continue
+            val dist = abs(p - edge)
+            val score = if (ctype == CType.SHOULDER) {
+                prom.pow(params.shoulderPromGamma) /
+                    (1.0 + params.shoulderDistDecay * dist) /
+                    (1.0 + params.shoulderScoreHandicap)
+            } else {
+                prom.pow(params.promGamma) / (1.0 + params.distDecay * dist)
+            }
+            scored += Candidate(p, prom, dist, vIdx, score, ctype)
+        }
+        if (scored.isEmpty()) return WallResult(null, emptyList())
+        return WallResult(scored.maxBy { it.score }, scored)
+    }
+
+    /**
+     * Parabolic sub-sample refine (Cespedes 1995) for `peak=true`.
+     * Returns the original idx as Double when refinement is invalid.
+     */
+    fun refineParabolic(envelope: DoubleArray, idx: Int, peak: Boolean = true): Double {
+        val n = envelope.size
+        if (idx < 1 || idx > n - 2) return idx.toDouble()
+        val ym1 = envelope[idx - 1]
+        val y0 = envelope[idx]
+        val yp1 = envelope[idx + 1]
+        val denom = ym1 - 2 * y0 + yp1
+        if (denom == 0.0 || denom.isNaN() || denom.isInfinite()) return idx.toDouble()
+        if (peak && denom > 0) return idx.toDouble()
+        if (!peak && denom < 0) return idx.toDouble()
+        val delta = 0.5 * (ym1 - yp1) / denom
+        if (delta.isNaN() || delta.isInfinite() || abs(delta) > 1.0) return idx.toDouble()
+        return idx + delta
+    }
+
+    /**
+     * Shoulder (d2 local-min) sub-sample refine via parabolic fit on d2 itself.
+     * Needs envelope[idx-2 .. idx+2].
+     */
+    fun refineShoulder(envelope: DoubleArray, idx: Int): Double {
+        val n = envelope.size
+        if (idx < 2 || idx > n - 3) return idx.toDouble()
+        val e = envelope
+        val d2m1 = e[idx - 2] - 2 * e[idx - 1] + e[idx]
+        val d20  = e[idx - 1] - 2 * e[idx]     + e[idx + 1]
+        val d2p1 = e[idx]     - 2 * e[idx + 1] + e[idx + 2]
+        val denom = d2m1 - 2 * d20 + d2p1
+        if (denom <= 0.0 || denom.isNaN() || denom.isInfinite()) return idx.toDouble()
+        val delta = 0.5 * (d2m1 - d2p1) / denom
+        if (delta.isNaN() || delta.isInfinite() || abs(delta) > 1.0) return idx.toDouble()
+        return idx + delta
+    }
+}