feat: Method C (V4.1) 대규모 업데이트 — 2-pass pipeline + ChordConsensus

새 알고리즘 모듈 (7개):
- ImpulseReject: 2-pass Hampel filter (lumen 내 impulse 제거)
- MedianFilter: running-median pre-filter (window=7, speckle 제거)
- MorphClose: morphological closing on lumen mask (disabled)
- StaLta: STA/LTA impulse detector (Allen 1978, wall edge vs reverberation)
- ChordConsensus: Tukey MAD outlier + Fischler-Bolles pair test
- DetectionSanity: detection sanity checks
- SweepStabilizer: sweep temporal stability

변경된 모듈 (9개):
- V41Detector: 2-pass pipeline (ImpulseReject.detectWithLumenClean),
  BModeScore V41_WEIGHTS (wamp+stalta), ChordConsensus filtering
- BvEstimation: ChordConsensus filter → trusted channel only
- DetectLumenFirst: running-median pre-filter, V41_PARAMS,
  mergeGapMax=5, Kremkau half-amplitude ant fallback
- AnatomicalGate: antDepthMin 22→10mm, strict threshold 제거
- BModeScore: V41_WEIGHTS (far=0.15, dark=0.10, wamp=0.45, stalta=0.20)
- WallSelect: MAX_PEAK_CANDIDATES_POST=64
- SpanUtils, Otsu, BvDispatchResult 업데이트

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

app/src/main/java/com/example/medilightv2android/walldetect/dto/BvDispatchResult.kt

@@ -13,11 +13,26 @@ package com.example.medilightv2android.walldetect.dto
 data class BvDispatchResult(
     val bvMl: Float?,             // null = no estimate
     val rMm: Float?,              // equivalent sphere radius (sphere or chord-derived)
-    val method: String,           // FrustumLR | FrustumNoLR | SphereLM | ConeFallback | Verathon | None
+    val method: String,           // FrustumLR | FrustumNoLR | ChordMedian | Verathon | None
     val confidence: Float,        // 0..1
-    val nCenter: Int,             // gated center channels (CH0..CH3)
-    val nLateral: Int,            // gated lateral channels (CH4, CH5)
+    val nCenter: Int,             // gated center channels (CH0..CH3) AFTER consensus filter
+    val nLateral: Int,            // gated lateral channels (CH4, CH5) AFTER consensus filter
     val lrRatio: Float,           // applied LR/AP ratio (1.0 if no lateral)
     val warnings: List<String> = emptyList(),
     val sphereCrossCheckBvMl: Float? = null,
+
+    // ── ChordConsensus integration (v4.1.1) ──────────────────────────────
+    /** Trusted channel indices after score ≥ 0.40 + Tukey/Fischler-Bolles
+     *  consensus filter. Empty when no detections passed. */
+    val trustedChannels: List<Int> = emptyList(),
+    /** Channels rejected by the consensus filter, with reason string. */
+    val rejectedChannels: List<RejectedChannel> = emptyList(),
+    /** Median chord across the trusted set (mm). */
+    val consensusMedianChordMm: Float? = null,
+    /** MAD of trusted chords (mm). null when N < 3. */
+    val consensusMadMm: Float? = null,
+    /** Highest-score trusted channel (RANSAC leader). */
+    val leaderCh: Int? = null,
 )
+
+data class RejectedChannel(val ch: Int, val chordMm: Float, val reason: String)